Page 128 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Slider TypeRCP2-GR3LM RoboCylinder 3-Finger Gripper Lever Type 80mm Width Pulse Motor■ Configuration:RCP2 GR3LMIEncoderI: Incremental * The Simpleabsolute encoder is also considered type "I".42PMotor42P : 42 size Pulse motor30Deceleration Ratio30: 1/30 decelerationratio19Stroke19: 19 degreesSeriesTypeCompatible ControllersP1: PCON RPCONPSEL P3: PMEC PSEPCable LengthN : NoneP : 1mS : 3mM : 5mX□□ : CustomR □□ : Robot cableOptionFB:Flange bracket SB:Shaft bracket* See page Pre-35 for an explanation of the naming convention.Rod TypeFTable/Arm /Flat TypeGripper/ Rotary TypeLinear Motor TypeCleanroom TypeNotes on Selection(1) The maximum opening/closin g 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 all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-77.(3) The rated acceleration while moving is 0.3G.Splash-ProofTechnical ReferencesControllersActuator Specifications■ Lead and Load Capacity ■ Stroke and Maxi. Opening/Closing SpeedModelDeceleration RatioMax. Gripping Force (N)Stroke (deg)RCP2-GR3LM-I-42P-30-19- - - 305119Stroke Deceleration Ratio19 (deg)30200 (per side)Legend: Compatible controllers Cable length Options(Unit: degrees/s)ItemDescriptionDrive SystemWorm gear + worm wheel gearPositioning Repeatability±0.01 degreesBacklash1 degree or less per side (constantly pressed out by a spring)Lost Motion0.15 degrees or less per sideWeight1.1kgAmbient 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 vs. Current Limit Lever Type (GR3LS/GR3LM)* Please note that, when gripping (pushing), the speed is fixedat 5 degrees/s.* The values in the graph below are gripping forces at 10mm gripping point.The actual gripping force decreases inversely proportional to the distancefrom the opening/closing point.You can calculate the actual gripping force by the following equation.Actual gripping force (type S)=P×24/(L+14)Actual gripping force (type M)=P×28.5/(L+18.5) P=Gripping force on graphL=Distance from finger mounting surface to the gripping point.70 60 50 40 30 20 1000 10 20 30 40 50 60 70 Current Limit (% ratio)P. A-5PMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSELCable List* See page A-39 for cables for maintenance.Option ListActuator Specifications345 RCP2-GR3LMGripping force (N)LIONTP