Page 120 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Slider TypeRCP2-GRHM RoboCylinder 2-Finger Gripper Medium High-force Slider Type 116mm Width Pulse Motor■ Configuration:RCP2 GRHMSeries TypeIEncoderI: Incremental * The Simpleabsolute encoder is also considered type "I".35PMotor35P: 35 □ size Pulse motor2Deceleration Ratio2: 1/2 deceleration ratio32Stroke32: 32mm (16mm per side)Compatible ControllersP1: PCON RPCONPSEL P3: PMEC PSEPCable LengthN : NoneP : 1mS : 3mM : 5mX □□: CustomR □□ : Robot cableOptionRefer to the options table below.* See page Pre-35 for explanation of each code that makes up the configuration name.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 pieces. 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-GRHM-I-35P-2-32- - - 212532(16 per side)Stroke Deceleration Ratio32 (mm)2100 (per side)Legend: Compatible controllers Cable length Options(Unit: mm/s)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)ItemDescriptionDrive SystemTiming belt + trapezoidal screw (2 lead)Positioning Repeatability±0.01mmBacklash0.15mm or less per side (constantly pressed out by a spring)Lost Motion0.2mm or less per sideGuideCross roller guideAllowable Static Load MomentMa: 11.7 N·m Mb: 16.7 N·m Mc: 46.5 N·mWeight1.14kgAmbient Operating Temp./Humidity0~40°C, 85% RH or less (non-condensing)Pulse MotorServo Motor (24V)Servo Motor (230V)Linear MotorNameOption Cod eSee PageCable exit direction (Top)CJT→ A-25Cable exit direction (Right)CJR→ A-25Cable exit direction (Left)CJL→ A-25Cable exit direction (Bottom)CJB→ A-25Flange 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.140 120 10080 60 40 2000 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.PMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSELCable List* See page A-39 for cables for maintenance.Option ListActuator SpecificationsP. A-5340-1 RCP2-GRHMGripping force (N)IONTP