Page 138 - 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-RTB/RTBLRoboCylinderRotaryMedium Vertical Type50mm WidthPulse MotorRCP2 RoboCylinder SliderRCP2SeriesRTBIEncoderI: Incremental * The Simple28PMotor28P : 28 size Pulse motor■ Configuration:type "I". * See page Pre-35 for an explanation of the naming convention.Cable LengthN : NoneP : 1mS : 3mM : 5mX□□ : CustomR □□ : Robot cableType: 330-degree rotationDeceleration RatioOscillation Angle330: 330degrees (RTB only)360: 360degrees (RTBL only)Compatible ControllersOptionNM :Reversed-rotation SA:Shaft adapterTA : Table adapterRTBL: Multi-rotational absolute encoder is also considered20: 30:1/20 deceleration ratio1/30 deceleration ratioP1: P3:PCON RPCON PSEL PMEC PSEP■ 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.3.5 3 2.52 1.7Output torque Deceleration ratio 1/301.5 1 0.51.10.850.55 Deceleration ratio 1/200035 30 25 20 15 1050 0100200Rotational speed (deg/sec)300Allowable moment of inertiaAllowable moment of inertia (×10-3 kg m2)IONTPNotes on Selection5 Deceleration ratio 1/20(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.(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 0.3G.(4) When using index mode with multiple rotation type, PMEC/PSEP controller is not available to operate.Deceleration ratio 1/307.5Actuator Specifications■ Lead and Load Capacity ModelRCP2-RTB-I-28P-20-330- 1 - 2 - 3 RCP2-RTB-I-28P-30-330- 1 - 2 - 3 RCP2-RTBL-I-28P-20-360- 1 - 2 - 3 RCP2-RTBL-I-28P-30-360- 1 - 2 - 3■ Deceleration Ratio and Max. SpeedLegend: 1 Compatible controller Cable List2 Cable length3 OptionsType Standard TypeSpecial LengthsCable SymbolItem Drive SystemPositioning Repeatability Homing AccuracyLost MotionAllowable Thrust Load Allowable Load Moment WeightAmbient Operating Temp./HumidityDescriptionP (1m)S (3m)M (5m)X06 (6m) ~ X11 (11m) ~ X16 (16m) ~ R01 (1m) ~ R04 (4m) ~ R06 (6m) ~ R11 (11m) ~ R16 (16m) ~X10 (10m) X15 (15m) X20 (20m) R03 (3m) R05 (5m) R10 (10m) R15 (15m) R20 (20m)Hypoid gear ±0.01 degrees ±0.01 degrees ±0.1 degrees 50NRobot Cable* See page A-39 for cables for maintenance.Option ListName Reversed-rotationShaft adapter Table adapterOption Code NMSATASee Page → A-33 → A-35 → A-37357 RCP2-RTB/RTBLTechnical ReferencesP. A-5Deceleration Max. Torque RatioAllowable Moment ofOscillation Angle (deg)330360Stroke Deceleration Ratio1/20 1/30330/360 (deg)600400(Unit: degrees/s)1/20 1.1 1/30 1.7 1/20 1.1 1/30 1.7Inertia 0.010.015 0.01 0.0152)Actuator Specifications100200Rotational speed (deg/sec)600 700300400 5000.86kg0 ~ 40°C, 85% RH or less (non-condensing)400 500 600 700