Iai rcp2 rtcs_rtcsl_specsheet
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This document provides specifications for the RCP2 ROBO Cylinder rotary actuator. It includes: 1) Graphs showing how output torque and allowable moment of inertia decrease as rotational speed increases. 2) Details that the rated acceleration is 0.2G and deceleration ratios of 1/30 and 1/45 are available. 3) A list of compatible controllers that can operate the actuator, including easy to use solenoid valve types and more advanced positioning and programmable controllers.
Iai rcp2 rtcs_rtcsl_specsheet
- 1. RCP2 ROBO Cylinder RCP2-RTCS/RTCSL ROBO Cylinder Rotary Small Flat Type 72mm Width Pulse Motor * See page Pre-35 for an explanation of the naming convention. (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 0.2G. O I N P T Notes on Selection Legend: 1 Compatible controller 2 Cable length 3 Options 1/45 1/45 0.36 0.36 0.0035 0.0035 RCP2-RTCS-I-20P-45-330- 1 - 2 - 3 RCP2-RTCSL-I-20P-45-360- 1 - 2 - 3 Deceleration Ratio 1/30 1/30 0.24 0.24 Allowable Moment of Inertia (kg∙m2) Max. Torque (N∙m) Model 0.0023 0.0023 ■ Speed vs. Load Capacity 0.50 0.45 0.40 0.35 0.30 0.25 0.20 0.15 0.10 0.05 0.00 5 4.5 4 3.5 3 2.5 2 1.5 Oscillation Angle (deg) RCP2-RTCS-I-20P-30-330- 1 - 2 - 3 RCP2-RTCSL-I-20P-30-360- 1 - 2 - 3 330 360 Due 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. Stroke List P1: PCON RPCON PSEL P3: PMEC PSEP NM :Reversed-rotation SA : Shaft adapter TA : Table adapter 330: 330degrees (RTCS only) 360: 360degrees (RTCSL only) 30 : 1/30 deceleration ratio 45 : 1/45 deceleration ratio ■ Configuration: RCP2 I 20P Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option 50 150 250 300 350 400 450 Rotational speed (deg/sec) (Unit: degrees/s) Actuator Specifications 0 100 200 1 ■ Lead and Load Capacity ■ Deceleration Ratio and Max. Speed Stroke Deceleration Ratio 330/360 (deg) 400 266 1/30 1/45 RTCS : 330 degree rotation RTCSL : Multi-rotational P. A- Technical 5 References Name Option Code See Page Standard Price NM SA TA Reversed-rotation (*) Shaft adapter Table adapter * Reversed-rotation option can be selected on the multi-rotational model only. – – – 2 Cable List Type Cable Symbol Standard Price Standard Type (Robot Cables) Special Lengths 3 Option List Actuator Specifications Item Description Drive System Positioning Repeatability Homing Accuracy Lost Motion Allowable Thrust Load Allowable Load Moment Weight Ambient Operating Temp./Humidity P (1m) S (3m) M (5m) X06 (6m) ～ X10 (10m) X11 (11m) ～ X15 (15m) X16 (16m) ～ X20 (20m) – – – – – – * The standard cable is the motor-encoder integrated robot cable. * See page A-39 for cables for maintenance. → A-33 → A-35 → A-37 Hypoid gear ±0.05 degrees ±0.05 degrees ±0.1 degrees 30N 3.6N∙m 0.52kg 0 ～ 40°C, 85% RH or less (non-condensing) Output torque (N∙m) Deceleration ratio 1/45 Deceleration ratio 1/30 0.36 0.24 0 Rotational speed (deg/sec) 0.5 0 50 100 150 200 250 300 350 400 450 Allowable moment of inertia (×10-3 kg•m2) Deceleration ratio 1/45 22..33 Deceleration ratio 1/30 – – RTCS RTCSL 330 360 Type Oscillation Angle (deg) Standard Price 28P : 28 † size Pulse motor I: Incremental * The Simple absolute encoder is also considered type "I". N : None P : 1m S : 3m M : 5m X□□ : Custom R □□ : Robot cable 355 RCP2-RTCS/RTCSL Slider Type Mini Standard Controllers Integrated Rod Type Mini Standard Controllers Integrated Table/Arm /Flat Type Mini Standard Gripper/ Rotary Type Linear Servo Type Cleanroom Type Splash-Proof Controllers PMEC /AMEC PSEP /ASEP ROBO NET ERC2 PCON ACON SCON PSEL ASEL SSEL XSEL Pulse Motor Servo Motor (24V) Servo Motor (200V) Linear Servo Motor Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. RCP2 ROBO Cylinder For Special Orders P. A-9 *1 The motor-encoder cable is connected here. See page A-39 for details on cables. Secure at least 100 Cable joint connector*1 11.6 17.5 68 3 6 22.5 45 43.5 42 7 22 (7) 12 36 5.5 7.5 26 22 21.8 72 48 27 ø13 4-M 3 depth 7 4-M3 depth 3.5 +0.010 0 4-M 3 depth 5.5 +0.015 0 hollow hole ø6 through-hole ø11 depth 0.9 4-M 3 depth 5.5 34 3 depth 2.5 +0.04 0 48 4 8 29 ø3 H7 ( )depth 4 ø7 H7( ) depth 7.5 3 depth 2.5 +0.04 0 3 +0.02 0 depth 2.5 ø20 g6( -0.007 -0.020 ) ø36 h7( 0 -0.025 ) +0.05 4 0 depth 4 3 +0.02 0 depth 2.5 4 Dimensions Note: * In the 2D drawing on the left, the shaded area indicates the rotating part. Note: The position in the 2D drawing on the left is the home position. When homing, the actuator rotates to the left past the home position by 1 degree. Therefore please watch for any interference with the surrounding objects. The range of motion is 330 degrees clockwise, as viewed from above. Weight (kg) 0.48 1 Compatible Controllers The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage. Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page Solenoid Valve Type PMEC-C-20PI-NP-2-1 Easy-to-use controller, even for beginners 3 points AC100V AC200V See P481 – → P477 PSEP-C-20PI-NP-2-0 Operable with same signal as solenoid valve. Supports both single and double solenoid types. No homing necessary with simple absolute type. DC24V 2A max. – → P487 Splash-Proof Solenoid Valve Type PSEP-CW-20PI-NP-2-0 – Positioner Type PCON-C-20PI-NP-2-0 Positioning is possible for up to 512 points 512 points – → P525 Safety-Compliant Positioner Type PCON-CG-20PI-NP-2-0 – Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI-NP-2-0 Pulse train input type with differential line driver support (−) – Pulse Train Input Type (Open Collector) PCON-PO-20PI-NP-2-0 Pulse train input type with open collector support – Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points – Field Network Type RPCON-20P Dedicated to field network 768 points – → P503 Program Control Type PSEL-C-1-20PI-NP-2-0 Programmed operation is possible Operation is possible on up to 2 axes 1500 points – → P557 * This is for the single-axis PSEL. * 1 is a placeholder for the power supply voltage (1: 100V, 2: 100～240V). RCP2-RTCS/RTCSL 356 Slider Type Mini Standard Controllers Integrated Rod Type Mini Standard Controllers Integrated Table/Arm /Flat Type Mini Standard Gripper/ Rotary Type Linear Servo Type Cleanroom Type Splash-Proof Controllers PMEC /AMEC PSEP /ASEP ROBO NET ERC2 PCON ACON SCON PSEL ASEL SSEL XSEL Pulse Motor Servo Motor (24V) Servo Motor (200V) Linear Servo Motor Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com