Page 160 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Slider TypeRCP2CR-GRLS Cleanroom RoboCylinder 2-Finger Gripper Mini Lever Type 42mm Width Pulse motor■ Configuration:RCP2CRSeriesGRLS IType EncoderI: Incremental* The simple absoluteencoder is also considered type "I".20P 30Motor Deceleration Ratio 20P: Pulse motor 30: 1/30180Stroke180 : 180 degrees (90 degrees per side)* See page Pre-35 for an explanation of the naming convention.20 □ sizedeceleration ratioCompatible ControllersP1: PCON RPCONPSEL P3: PMEC PSEPCable LengthN : NoneP : 1mS : 3mM : 5mX □□ : CustomOptionNM: Reversed-home FB : Flange bracket SB : Shaft bracketRod TypeTable/Arm /Flat TypeGripper/ Rotary TypeLinear Motor TypeCleanroom TypeTechnical ReferencesNotes on Selection(1) The maximum opening/closing 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 both fingers, at a gripping point distance of 0mm and no overhang distance. The workpiece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the workpiece, as well as on the shape of the workpiece. As a rough guide, a workpiece's weight should not exceed 1/10 to 1/20 of the gripping force.(See page A-77 for details.)(3) The rated acceleration while moving is 0.3G.Splash-ProofControllersActuator Specifications■ Lead and Load Capacity ■ Stroke and Maxi. Opening/Closing SpeedModelDeceleration RatioMax. Gripping Force (N)Stroke (deg)RCP2CR-GRLS-I-20P-30-180- 1 - 2 - 3306.4180(90 per side)Stroke Deceleration Ratio180 (deg)30600Legend: 1 Compatible controllers 2 Cable length 3 Options(Unit: degrees/s)ItemDescriptionDrive SystemWorm gear + helical gearPositioning Repeatability±0.01mmBacklash1 degree or less per side (constantly pressed out by a spring)Lost Motion0.1 degree or less per sideGuide−Allowable Static Load Moment−Weight0.2kgAmbient Operating Temp./Humidity0~40°C, 85% RH or less (non-condensing)TypeCable SymbolStandard Type (Robot Cables)P (1m)S (3m)M (5m)Special LengthsX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)Pulse MotorServo Motor (24V)Servo Motor (230V)Linear MotorNameOption CodeSee PageReversed-homeNM→ A-33Flange bracketFB→ A-26Shaft bracketSB→ A-36RCP2CR RoboCylinderMiniStandardControllers IntegratedMiniStandardControllers IntegratedMini Standard■ Gripping Force AdjustmentThe gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.* The gripping forces in the following diagrams indicate the sum of the gripping forces of both fingers.7 6 5 4 3 2 100 10 20 30 40 50 60 70 Current Limit (% ratio)* The value of the gripping (pushing) in the graph is only reference. Please note that there is a maximum variation of about 15%.* Please note that, when gripping (pushing), the speed is fixed at 5 degrees/s.P. A-5PMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSELCable List* The standard cable is the motor-encoder integrated robot cable. * See page A-39 for cables for maintenance.Option ListActuator Specifications413 RCP2CR-GRLSGripping force (N)IONTP