Page 140 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Type MiniStandardControllers IntegratedRod TypeMiniStandardControllers IntegratedTable/Arm /Flat TypeMini StandardGripper/ RotaryTypeLinear Motor TypeCleanroom TypeSplash-ProofControllersPMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSELPulse MotorServo Motor (24V)Servo Motor (230V)Linear MotorRCP2-RTC/RTCLRoboCylinderRotaryMedium Flat Type88mm WidthPulse MotorRCP2 RoboCylinder Slider■ Configuration:RCP2SeriesIEncoderI: Incremental * The Simpleabsolute encoder is also considered type "I".28PMotor28P : 28 size PulsemotorRTCL: Multi-rotational* See page Pre-35 for an explanation of the naming convention.20: 30:1/20 deceleration ratio1/30 deceleration ratioP1: P3:PCON RPCON PSEL PMEC PSEPTypeRTC: 330-degree rotationDeceleration RatioOscillation Angle330: 330degrees (RTC only)360: 360degrees (RTCL 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.3.5 3 2.52 1.7Output torque Deceleration ratio 1/301.5 1 0.51.10.850.55 Decelelerrattioionrrattioio1//200035 30 25 20 15 105 00100200Rotational speed (deg/sec)300Allowable moment of inertia400 500 600 700Allowable moment of inertia (×10-3 kg m2)IONTPNotes on Selection5 Decelelerrattioionrrattioio1//20■ Deceleration Ratio and Max. Speed Stroke 330/360Deceleration Ratio (deg)(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 CapacityModel DecelerationRatio RCP2-RTC-I-28P-20-330- 1 - 2 - 3 1/20RCP2-RTC-I-28P-30-330- 1 - 2 - 3 1/30 RCP2-RTCL-I-28P-20-360- 1 - 2 - 3 1/20 RCP2-RTCL-I-28P-30-360- 1 - 2 - 3 1/30Max. TorqueAllowable Moment of Inertia 2)Oscillation Angle (deg)Legend: 1 Compatible controller Cable List2 Cable length 3 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-37359 RCP2-RTC/RTCLTechnical ReferencesP. A-51.1 0.01 1/20 600 3301.7 0.015 1/30 4001.1 0.01 1.7 0.015(Unit: degrees/s)Actuator Specifications360100400 500 600 700200Rotational speed (deg/sec)3000.92kg0 ~ 40°C, 85% RH or less (non-condensing)