Page 170 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Slider TypeRCP2W-GRSS RoboCylinder 2-Finger Gripper Dust-proof Mini Slider Type 42mm Width Pulse Motor■ Configuration:RCP2WSeriesGRSS I 20PType Encoder MotorI: Incremental Type 20P: Pulse motor30Lead30 : Deceleration ratio 1/308Stroke8 : 8mm (One side 4mm)Compatible ControllersCable LengthN : NoneP : 1mS :3mM : 5mX □□ : Custom LengthOptionNM : Reversed-home FB : Flange Bracket SB : ShaftBracket20 □ size * See page Pre-35 for explanation of each code that makes up the configuration name.* The simple absoluteencoder is also considered type "I".P1 : P3 :PCON RPCON PSEL PMEC PSEPRod TypeTable/Arm /Flat TypeGripper/ Rotary TypeLinear Motor TypeTechnical ReferencesCleanroom TypeNotes on Selection(1) The max. open/close speed represents one side operating speed.(2) The max. grip force will be the sum of the two fingers grip force when the distance for grip point and overhang is 0. The actual work part weight which can be transported depends on the friction constant between finger and work material, and the form; typically it is 1/10~1/20 or less than gripping force.(See page A-74 for details.)(3) The rated acceleration at transportation is 0.3G.(4) Please note that the product has no splash-proof function.Splash-ProofControllersActuator Specifications■ Lead and Load Capacity ■ Stroke and Maximum Open/Close SpeedModelDeceleration ratioMax. Grip Force (N)Stroke (mm)RCP2W-GRSS-I-20P-30-8- 1 - 2 - 330148(One side 4)Stroke ration ratioDecele-8 (mm)3078Legend 1 Compatible controller 2 Cable length 3 Options(Unit: mm/s)ItemDescriptionDrive SystemWorm gear + Helical gear + Helical rackPositioning Repeatability±0.01mmBacklash0.2 mm or less for one side (stressed by spring on the side which is opened always)Lost Motion0.05mm or less one sideGuideLinear GuideStatically Allowable Load MomentMa:0.5N・m Mb:0.5N・m Mc:1.5N・mWeight0.2kgProtection StructureIP50Ambient Operating Temp./Humidity0~40°C, 85%RH or less (Non-condensing)TypeCable SymbolStandard (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→ 26Shaft BracketSB→ 36RCP2W RoboCylinderMiniStandardControllers IntegratedMiniStandardControllers IntegratedMini Standard■ Grip Force ArrangementThrough push operation the grip force (push force) can be arranged freely within the range of 20%-70% of current limit value of the controller.* Grip force noted in the figure below is the sum16 1412 10 8 6 4 2of the grip force of two fingers.P. A-500 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 when gripping (pushing) is performed the speed will be fixed at 5 mm/s.PMEC /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 Specifications451 RCP2W-GRSSGripping force (N)IONTP