Page 116 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Slider TypeRCP2-GRS RoboCylinder 2-Finger Gripper Small Slider Type 69mm Width Pulse Motor■ Configuration:RCP2 GRS I 20P 1 10SeriesType EncoderI: Incremental * The Simpleabsolute encoder is also considered type "I".Motor20P : 20 size Pulse motorDeceleration Ratio1: 1/1 deceleration ratioStroke10: 10mm (5mm per side)Compatible ControllersP1: PCON RPCONPSEL P3: PMEC PSEPCable LengthN : NoneP : 1mS : 3mM : 5mX □□ : Custom R □□ : Robot cableOptionSB:Shaft bracket FB : Flange 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-74 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 (mm)RCP2-GRS-I-20P-1-10- - - 12110(5 per side)Stroke Deceleration Ratio10 (mm)133.3 (per side)Legend: Compatible controllers Cable length Options(Unit: mm/s)ItemDescriptionDrive SystemTiming belt + trapezoidal screw (1.5 lead)Positioning Repeatability±0.01mmBacklash0.15mm or less per side (constantly pressed out by a spring)Lost Motion0.1mm or less per sideGuideAllowable Static Load MomentCross roller guideWeight0.36kgAmbient Operating Temp./Humidity0~40°C, 85% RH or less (non-condensing)TypeCable SymbolStandard TypeP (1m)S (3m)M (5m)Special LengthsX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)Robot CableR01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)Pulse MotorServo Motor (24V)Servo Motor (230V)Linear MotorNameOption CodeSee PageFlange 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.35 30 25 20 15 10500 10 20 30 40 50 60 70Current 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 5mm/s.P. A-5PMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSELCable List* See page A-39 for cables for maintenance.Option ListActuator Specifications337 RCP2-GRSGripping force (N)IONTP