Page 172 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Slider TypeRCP2W-GRLS RoboCylinder 2-Finger Gripper Dust-proof Mini Lever Type 42mm Width Pulse Motor■ Configuration:RCP2WSeriesGRLS IType Encoder20P 30 180Motor Lead Stroke20P: Pulse motor 30 : Deceleration 180 : 180 Degress20 □ size * See page Pre-35 for explanation of each code that makes up the configuration name.ratio 1/30(One side 90 dedress)I: Incremental Type * The simpleCompatible ControllersP1 : PCON RPCONPSEL P3 : PMEC PSEPCable LengthN : NoneP : 1mS : 3mM : 5mX □□ : Custom LengthOptionNM : Reversed-home FB : Flange Bracket SB : Shaft Bracketabsolute encoder is also considered type "I".Rod 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 grippoint and over hang is 0. The actual work part weight which can be transported depends on the friction constant between finger and work part material, and the form; typically it is1/10 ~ 1/20 or less than gripping force.(See page A-77 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 degrees)RCP2W-GRLS-I-20P-30-180- 1 - 2 - 3306.4180 (One side 90)Stroke Deceleration ratio180 (degrees)30600Legend 1 Compatible controller 2 Cable length 3 Options(Unit: degrees/s)ItemDescriptionDrive SystemWorm gear + Helical gearPositioning Repeatability±0.01mmBacklash1 degree or less for one side (stressed by spring on the side which is opened always)Lost Motion0.1 mm or less one sideGuide−Statically Allowable Load Moment−Weight0.2kgProtection 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-homeNMA-33Flange BracketFB26Shaft BracketSB36MiniRCP2W RoboCylinderStandardControllers 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 sum of the grip force of two 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 when gripping (pushing) is performed the speed will be fixed at 5 degrees/sec.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 Specifications453 RCP2W-GRLSGripping force (N)IONTP