Page 114 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Slider TypeRCP2-GRLS RoboCylinder 2-Finger Gripper Mini Lever Type 42mm Width Pulse Motor■ Configuration:RCP2 GRLSSeries TypeIEncoderI: Incremental * The Simpleabsolute encoder is also considered type "I".20PMotor20P : 20 size Pulse motor30Deceleration Ratio30: 1/30 decelerationratio180Stroke180: 180degrees(90 degrees per side)Compatible ControllersP1: PCON RPCONPSEL P3: PMEC PSEPCable LengthN : NoneP : 1mS : 3mM : 5mX□□ : CustomOptionNM:Reversed-home FB:Flange bracket SB:Shaft bracket* See page Pre-35 for an explanation of the naming convention.Rod TypeTable/Arm /Flat TypeGripper/ Rotary TypeLinear Motor TypeCleanroom TypeTechnical ReferencesNotes on Selection(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-77 for details.)(3) The rated acceleration while moving is 0.3G.Splash-ProofControllersActuator Specifications■ Lead and Load Capacity ■ Stroke and Maxi. Opening/Closing SpeedModelDeceleration RatioMax. Gripping Force (N)Stroke (deg)RCP2-GRLS-I-20P-30-180- - - 306.4180(90 per side)Stroke DecelerationRatio180 (deg)30600 (per side)Legend: Compatible controllers Cable length Options(Unit: degrees/s)ItemDescriptionDrive SystemWorm gear + helical gearPositioning Repeatability±0.01mmBacklash1 degree or less per side (constantly pressed out by a spring)Lost Motion1 degree or lessGuide−Allowable Static Load Moment−Weight0.2kgAmbient Operating Temp./Humidity0~40°C, 85% RH or less (non-condensing)TypeCable SymbolStandard Type (Robot Cables)P (1m)S (3m)M (5m)Special LengthsX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)Pulse MotorServo Motor (24V)Servo Motor (230V)Linear MotorNameOption CodeSee PageReversed-homeNM→ A-33Flange bracketFB→ A-26Shaft bracketSB→ A-36RCP2 RoboCylinder MiniStandardControllers IntegratedMiniStandardControllers IntegratedMini Standard■ Gripping Force AdjustmentThe gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.* The gripping forces in the following diagrams indicate the sums of gripping forces of both fingers.7 6 5 4 3 2 100 10 20 30 40 50 60 70 Current Limit (% ratio)* The value of the gripping (pushing) in the graph is only reference. Please note that there is a maximum variation of about 15%.* Please note that, when gripping (pushing), the speed is fixed at 5 degrees/s.P. A-5PMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSELCable List* The standard cable is the motor-encoder integrated robot cable. * See page A-39 for cables for maintenance.Option ListActuator Specifications335 RCP2-GRLSGripping force (N)IONTP