Page 124 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

RCP2 RoboCylinder SliderType MiniStandardControllers IntegratedRod TypeMiniStandardControllers IntegratedTable/Arm /Flat TypeMini StandardGripper/ Rotary TypeLinear Motor TypeCleanroom TypeSplash-ProofControllersPMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSELPulse MotorServo Motor (24V)Servo Motor (230V)Linear MotorRCP2-GRST RoboCylinder Pulse Motor2-Finger GripperLong Stroke Slider Type130~190mm WidthCable LengthN : NoneP : 1mS : 3mM : 5mX□□ : Custom■ Configuration:RCP2 GRSTIEncoderI: Incremental * The Simpleabsolut e encod er is also considered type "I".20PMotor20P : 20 size Pulse motorSeriesTypeDeceleration Ratio1: 1/1 deceleration ratioHigh-Speed Type 2: 1/2 decelerationratio Standard TypeStroke40: 40mm 60: 60mm 80: 80mm 100: 100mmCompatible ControllersOptionSee Options below* Be sure to specify the side from which you want the cable to exit (A0 or A1).P1:P3:PCON RPCON PSEL PMEC PSEP* See page Pre-35 for an explanation of the naming convention.■ 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.45 40 35 30 25 20 15 105StandardHigh-Speed TypeGripping force (N)Technical ReferencesP. A-500 10 20 30 40 50 60 70 80 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 5mm/s.■ Stroke and Maxi. Opening/Closing SpeedIONTPNotes on Selection(1) (2)(3)The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed istwice this value.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.)The rated acceleration while moving is 0.3G.Actuator Specifications■ Lead and Load Capacity ModelRCP2-GRST-I-20P-1- - - - RCP2-GRST-I-20P-2- - - - Deceleration Ratio1 2 OptionsMax. Gripping Force (N)20 40Stroke (mm)40~100 (20~50 per side) (20mm increments)Stroke Deceleration Ratio1 240~100 (mm)75 (per side)34 (per side)(Unit: mm/s)Legend: StrokeCable ListTypeStandard Type (Robot Cables) Compatible controllerCable Symbol Cable lengthP (1m)S (3m)M (5m)X06 (6m)X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)Actuator SpecificationsItem Drive SystemPositioning Repeatability BacklashLost MotionGuideAllowable Static Load Moment WeightAmbient Operating Temp./HumidityDescription Timing belt + worm/rack gear±0.01mm0.2mm or less per side–Linear guide0.51kg(40-stroke) ~ 0.66kg (100-stroke) 0~40°C, 85% RH or less (non-condensing)~ X10 (10m)* The standard cable is the motor-encoder integrated robot cable.Special Lengths* See page A-39 for cables for maintenance.Option ListName Reversed-homeOption Code NMA0A1See Page → A-33 → A-25 → A-25Cable exiting from bottomCable exiting from the side*Be sure to specify the side from which you want the cable to exit (A0 or A1).341 RCP2-GRST