Page 142 - 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 MotorPulse Motor RCP2-RTBB/RTBBL RoboCylinderRotaryLarge Vertical Type76mm WidthRCP2 RoboCylinder Slider■ Configuration:RCP2SeriesIEncoderI: Incremental * The Simpleabsolute encoder is also considered type "I".35PMotor35P : 35 size Pulse motor* See page Pre-35 for an explanation of the naming convention.TypeRTBB : 330-degree rotationRTBBL : Multi- rotationalDeceleration Ratio20: 1/20 decelerationratio 30: 1/30deceleration ratioOscillation Angle330: 330degrees (RTBB only) 360: 360degrees(RTBBL only)Compatible ControllersCable LengthN : NoneP : 1mS : 3mM : 5mX□□ : CustomR □□ : Robot cableOptionNM :Reversed-rotation SA:Shaft adapterTA : Table adapterP1: 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.5.04.5 4.6 4.03.53.02.5 2.0 1.5 1.0 0.500 10040 35 30 25 20 15 10500 100Deceleration ratio 1/301.73 1.13 Deceleration ratio 1/20200 300Rotational speed (deg/sec)Allowable 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 0.3G.(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-RTBB-I-35P-20-330- 1 - 2 - 3 RCP2-RTBB-I-35P-30-330- 1 - 2 - 3 RCP2-RTBBL-I-35P-20-360- 1 - 2 - 3 RCP2-RTBBL-I-35P-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 200NRobot Cable* See page A-39 for cables for maintenance.Option ListName Reversed-rotationShaft adapter Table adapterOption Code NMSATASee Page → A-33 → A-35 → A-37361 RCP2-RTBB/RTBBLTechnical ReferencesP. A-5Deceleration ratio 1/3011.3 7.5 Deceleration ratio 1/20200 300 400 500 600 700 Rotational speed (deg/sec)Deceleration Max. Torque RatioAllowable Moment ofOscillation Angle (deg)330360Stroke Deceleration Ratio1/20 1/30330/360 (deg)600400(Unit: degrees/s)1/20 3.0 1/30 4.6 1/20 3.0 1/30 4.6Inertia 0.020.03 0.02 0.032)Actuator Specifications2.3kg0 ~ 40°C, 85% RH or less (non-condensing)400 500 600 700