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Model Selection3 Check Specifications Gripper TypeThe gripper type is used for gripping and centering workpieces. Gripping is done by a pushing motion, and centering is done by a positioning motion.[Pushing]For pushing motions, the criteria for selection are: (1) stroke and (2) maximum pushing force.From the table below, select a model that meets your requirements for the stroke and gripping force. Moreover, the gripping force can be adjusted between 20% to 70% (max. pushing force at 70%).[Positioning]For positioning motions, the criteria for selection are: (1) stroke and (2) speed.Based on the stroke requirements, look for a balance between the load capacity and the speed, and select a model that meets your requirements.[How to Read the Table]Gripper TypeTypeStroke (mm) and Maximum Speed (mm/sec)MaximumGrip EncoderControllerInput Power24VModel* □ denotes motor shape○ denotes encoder type *** denotes strokeRCP2-GRSS-I-20P-30-8 RCP2-GRLS-I-20P-30-180 RCP2-GRS-I-20P-1-10 RCP2-GRM-I-28P-1-14See PageP.333 P.335 P.337 P.339Gripper TypeTypeMaximum Grip ForceEncoder TypeIController Input Power24V115V 230V24VModel* □ denotes motor shape○ denotes encoder type *** denotes strokeRCP2-GRSS-I-20P-30-8 RCP2-GRLS-I-20P-30-180 RCP2-GRS-I-20P-1-10 RCP2-GRM-I-28P-1-14 RCP2-GRST-I-20P-1-*** RCP2-GRST-I-20P-2-***RCS2-GR8-I-60-5-*** RCP2-GR3LS-I-28P-30-19RCP2-GR3LM-I-42P-30-19 RCP2-GR3SS-I-28P-30-10 RCP2-GR3SM-I-42P-30-14=DC =ACSee PageP.333 P.335 P.337 P.339P.341P.351P.343 P.345 P.347 P.349GRSS 78GRLSGRS 33.3GRM 36.7Maximum Speed14 600 6.4 21 80GRSS 78GRLSGRS 33.3GRM 36.7*Addendum 1)GRSTGR8GR3LS GR3LM GR3SS GR3SM*Addendum 1)4050(New RCP2 gripper types)I= IncrementalA45.118 51 22 102= Absolute8mm 10mm100mm(60cpm)120mm200mmForce Type 8mm 10mm 14mm 20mm 40mm 60mm 100mm 120mm 200mm 19˚ 180˚ (N)19deg.200 200RCP2-GRHM-I-35P-2-32 (s. P.340-1): stroke 32 mm, max. speed 100 mm/s, max. grip force 125 N RCP2-GRHB-I-42P-2-40 (s. P.340-3): stroke 40 mm, max. speed 100 mm/s, max. grip force 200 NPre-23 RoboCylinder General Catalogue14mm20mm40mm180deg. (N) 14 600 6.4 21 80 75 20 34 40Stroke RangeStroke (mm) and Maximum Speed (mm/sec)Maximum Gripping Force60mm←
