Page 136 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Type 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-RTCS/RTCSLRoboCylinderRotarySmall Flat Type72mm WidthPulse MotorRCP2 RoboCylinder Slider■ Configuration:RCP2SeriesIType Encoder RTCS : 330 degree I: Incremental20PMotor28P : 28 size 30:rotational* See page Pre-35 for an explanation of the namingrotation * RTCSL : Multi-The Simple absolute encoder is also considered type "I". convention.Pulse motor 45:1/30 deceleration ratio1/45 deceleration ratioP1: P3:PCON RPCON PSEL PMEC PSEPDeceleration RatioOscillation Angle 330: 330degrees(RTCS only) 360: 360degrees(RTCSL only)Compatible ControllersCable LengthN : NoneP : 1mS : 3mM : 5mX□□ : CustomR □□ : Robot cableOptionNM :Reversed-rotation SA:Shaft adapterTA : Table adapter■ Speed vs. Load CapacityDue to the characteristics of the Pulse motor, the RCP2 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.0.50 0.450.40 0.36 0.350.30 0.24 0.250.20 0.15 0.10 0.05 0.00Deceleration ratio 1/45 Deceleration ratio 1/30Allowable moment of inertia (×10-3 kg m2)IONTPNotes on Selection(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range.(3) The rated acceleration while moving is 0.2G.(4) When using index mode with multiple rotation type, PMEC/PSEP controller is not available to operate.(1) The output torque decreases as the rotational speed increases.Check the output torque graph on the right to see whether the speed required for your desired motion is supported.Actuator Specifications■ Lead and Load Capacity ModelRCP2-RTCS-I-20P-30-330- 1 - 2 - 3 RCP2-RTCS-I-20P-45-330- 1 - 2 - 3 RCP2-RTCSL-I-20P-30-360- 1 - 2 - 3 RCP2-RTCSL-I-20P-45-360- 1 - 2 - 30 50 100 150 200 250 300 350 400 450 Rotational speed (deg/sec)■ Deceleration Ratio and Max. SpeedLegend: 1 Compatible controller Cable List2 Cable length3 OptionsTypeStandard Type (Robot Cables)Cable SymbolP (1m)S (3m)M (5m)X06 (6m)X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)Item Drive SystemPositioning Repeatability Homing AccuracyLost MotionAllowable Thrust Load Allowable Load Moment WeightAmbient Operating Temp./HumidityDescription~ X10 (10m)* The standard cable is the motor-encoder integrated robot cable.Hypoid gear ±0.05 degrees ±0.05 degrees ±0.1 degrees 30NSpecial Lengths* See page A-39 for cables for maintenance.0.52kg0 ~ 40°C, 85% RH or less (non-condensing)Option ListName Reversed-rotationShaft adapter Table adapterOption Code NMSATASee Page → A-33 → A-35 → A-37355 RCP2-RTCS/RTCSLDeceleration RatioMax. Torque0.24 0.36 0.24 0.36Allowable Moment ofOscillation Angle (deg)330360Stroke Deceleration Ratio1/30 1/45330/360 (deg)400266(Unit: degrees/s)1/30 1/45 1/30 1/45Technical ReferencesP. A-55 4.5 4 3.5 32.5 2.3 21.5 1 0.5 0Deceleration ratio 1/45 Deceleration ratio 1/30Inertia 0.00230.0035 0.0023 0.00352)Actuator Specifications0 50 100 150 200 250 300 350 400 450 Rotational speed (deg/sec)