User manual | RCP2

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-RTB/RTBL
RCP2
Model
Specification
Items
Series
Type
I
Encoder type
ROBO Cylinder, Rotary, Medium Vertical Type, Actuator Width 50mm, Pulse Motor
28P
Motor type
28P: Pulse motor, RTB:330-deg I: Incremental
rotation * T he Simple absolute 28 size
RTBL:Multiple encoder is also
rotation considered type "I".
* See page Pre-47 for details on the model descriptions.
Deceleration Ratio Oscillation Angle
Applicable controller
20: 1/20
deceleration
ratio
30: 1/30
deceleration
ratio
P1: PCON-PL/PO/SE
PSEL
P3:PCON-CA
PMEC/PSEP
MSEP
330:330-degrees
(RTB only)
360: 360-degrees
(RTBL only)
Output torque (N•m)
Output torque (N•m)
Standard
Controllers
Integrated
Table/
Arm/
Flat Type
Mini
Due to the characteristics of the pulse motor, the RCP2
3
series'
load capacity
decreases
at high speeds. In the
Output
torque
table
2.5 below, check if your desired speed and load
capacity are supported.
2
3.5 1.7
1.5
3 1.1
1
2.5
0.5
2
0 1.7
1.50
1.1
1
Output torque
0.85
0.55
Deceleration ratio 1/30
100
Deceleration ratio 1/20
200
300
400
500
Rotational speed (deg/sec)
0.85
600
P.5
0.55
Deceleration ratio 1/20
100
200
300
400
500
Rotational speed (deg/sec)
600
700
Allowable moment of inertia
Allowable moment
Allowable
of
moment of
2)
inertia (× 10-3 kg•m
inertia
(× 10-3 kg•m2)
30
25
(1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to
see whether the speed required for your desired motion is supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable
Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within
the allowable range.
(3) The rated acceleration while moving is 0.3G.
(4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple
rotation type.
Linear
Servo
Type
20
35
15
30
10
25
5
20
0
15 0
Deceleration ratio 1/30
Allowable moment
7.5 of inertia
5
Deceleration
1/30
100
200 ratio
300
Actuator Specifications
„„Leads and Payload
Deceleration Max. Torque
Ratio
(N ∙ m)
Model number
Allowable Movement of
Inertia (kg ∙ m2)
RCP2-RTB-I-28P-20-330- ➀ - ➁ - ➂
1/20
1.1
0.01
RCP2-RTB-I-28P-30-330- ➀ - ➁ - ➂
1/30
1.7
0.015
RCP2-RTBL-I-28P-20-360- ➀ - ➁ - ➂
1/20
1.1
0.01
RCP2-RTBL-I-28P-30-360- ➀ - ➁ - ➂
1/30
1.7
0.015
Oscillation
Angle (deg)
600
Deceleration ratio 1/20
100
200
300
400
500
600
„„Deceleration
Ratio
Max. Speed
Rotational
speedand
(deg/sec)
Stroke
Deceleration ratio
330
Type
1/20
600
1/30
400
(Unit: degrees/s)
360
Cable Length
Oscillation Angle
(deg)
Standard price
330
360
—
—
RTB
RTBL
Type
Standard
Pulse
Motor
Special length
Robot Cable
Servo
Motor
(24V)
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.
Actuator Specifications
 Options
Name
Reversed-rotation
Shaft adapter
Table adapter
Option code
NM
SA
TA
Linear
Servo
Motor
401
RCP2-RTB/RTBL
See page
➝ A-52
➝ A-54
➝ A-56
Standard price
—
—
—
Item
Drive System
Positioning repeatability
Homing accuracy
Lost motion
Allowable thrust load
Allowable load moment
Weight
Ambient operating temperature, humidity
700
330/360
(deg)
Code explanation  Applicable Controller ➁ Cable Length ➂ Options
Stroke
700
5
5
0
0
Deceleration ratio 1/20
400
500
Rotational speed (deg/sec)
7.5
10
Servo
Motor
(200V)
700
35
Appendix
Gripper/
Rotary
Type
Deceleration ratio 1/30
0.5
0
0
Standard
SplashProof
Type
Options
vs. Load Capacity
n Speed
3.5
Mini
Cleanroom
Type
Cable length
N: None
NM: Non-motor end
P: 1m
SA: Shaft adapter
S: 3m
TA: Table adapter
M: 5m
X:Custom length
R:Robot cable
Description
Hypoid gear
±0.01 degrees
±0.01 degrees (RTB) / ±0.05 (RTBL)
±0.1 degrees
50N
3.9 N·m
0.86kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Dimensional Drawings
CAD drawings can be downloaded
from the website.
Appendix
www.intelligentactuator.com
P.15
2D
CAD
+0.05
4 0 depth 3
7
Controllers
Integrated
Rod
Type
ø1
42
Mini
Standard
Note:
The position shown in the top view of the drawing is the home position for both the standard
type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will
rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse
rotation type will move clockwise during homing and then moves counter clockwise
afterward. Please be aware that the homing direction cannot be changed after shipment.
Please refer to the Appendix for the details.
Note:
* In the 2D drawing below, the shaded
area indicates the rotating part.
6
Slider
Type
Mini
5-M3 depth 6
4-M4 depth 7
37
Cable joint
connector *1
ø3H7 depth 4
30
26.5
88
ø45h7
ø24h7
+0.03
ø4 0
ø11H7 depth 10
depth 2.5
Standard
Controllers
Integrated
34
4-M4 depth 8
(10)
Table/
Arm/
Flat Type
52
71
83.5
82
77
Mini
9
5
Standard
(5.5)
50
+0.05
4 0 depth 2.5
56
depth 2.5
56
Secure at least 100
(28)
Gripper/
Rotary
Type
5
4
+0.05
0
4-M4 depth 8
5.5
39
ø4
+0.03
0
Linear
Servo
Type
(*1)Connect the motor and encoder cables here.
See page A-59 for details on cables.
12
depth 2.5
22
34
Cleanroom
Type
(34)
Weight (kg)
* The bend radius R of the cable is the same as other models.
0.86
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
—
Pulse
Motor
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
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-RTB/RTBL
—
Servo
Motor
(200V)
➝ P665
Linear
Servo
Motor
402

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