Iai rcp2 gr3_ls_specsheet
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This document provides specifications for the RCP2-GR3LS ROBO Cylinder 3-Finger Gripper Lever Type including: 1. Key specifications like a stroke of 19 degrees, maximum gripping force of 200N, and compatible controllers. 2. A graph showing how gripping force varies with current limit from 0-70%. 3. Dimensions and mounting information for the actuator. 4. An overview of compatible simple and programmable motion controllers for the RCP2 series actuators.
Iai rcp2 gr3_ls_specsheet
- 1. RCP2 ROBO Cylinder RCP2-GR3LS ROBO Cylinder 3-Finger Gripper Lever Type 62mm Width Pulse Motor ■ Configuration: RCP2 GR3LS I 28P 30 19 Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option (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 all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-77. (3) The rated acceleration while moving is 0.3G. O I N T Notes on Selection Actuator Specifications P ■ Lead and Load Capacity ■ Stroke and Maxi. Opening/Closing Speed Deceleration Model Stroke Ratio Max. Gripping Force (N) RCP2-GR3LS-I-28P-30-19- 1 - 2 - 3 30 18 19 (deg) Deceleration Ratio Stroke List 2 Cable List Name Option Code See Page Standard Price FB SB → A-26 → A-36 Flange bracket Shaft bracket – – ■ Gripping Force vs. Current Limit Lever Type (GR3LS/GR3LM) L 35 30 25 20 15 10 5 F 0 0 10 20 30 40 50 60 70 Current Limit (% ratio) Gripping force (N) Stroke 19 (deg) 30 200 Type Cable Symbol Standard Price Standard Type Special Lengths Robot Cable P (1m) S (3m) M (5m) X06 (6m) ～ X10 (10m) X11 (11m) ～ X15 (15m) X16 (16m) ～ X20 (20m) R01 (1m) ～ R03 (3m) R04 (4m) ～ R05 (5m) R06 (6m) ～ R10 (10m) R11 (11m) ～ R15 (15m) R16 (16m) ～ R20 (20m) – – – – – – – – – – – * See page A-39 for cables for maintenance. 3 Option List Actuator Specifications Item Description Worm gear + worm wheel gear ±0.01 degrees 1 degree or less per side (constantly pressed out by a spring) 0.15 degrees or less per side 0.6kg 0～40°C, 85% RH or less (non-condensing) Drive System Positioning Repeatability Backlash Lost Motion Weight Ambient Operating Temp./Humidity * See page Pre-35 for an explanation of the naming convention. 28P : 28 † size Pulse motor I: Incremental * The Simple absolute encoder is also considered type "I". P1: PCON RPCON PSEL P3: PMEC PSEP N : None P : 1m S : 3m M : 5m X□□ : Custom R □□ : Robot cable FB : Flange bracket SB : Shaft bracket 30 : 1/30 19: 19 degrees deceleration ratio Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: degrees/s) 10 – * The values in the graph below are gripping forces at 10mm gripping point. The actual gripping force decreases inversely proportional to the distance from the opening/closing point. You can calculate the actual gripping force by the following equation. Actual gripping force (type S)=P×24/(L+14) Actual gripping force (type M)=P×28.5/(L+18.5) P=Gripping force on graph L=Distance from finger mounting surface to the gripping point. P. A-5 Technical References * Please note that, when gripping (pushing), the speed is fixed at 5 degrees/s. Stroke (deg) Standard Price 343 RCP2-GR3LS 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 (same for back side) 4 24 36 2-3+0.05 0 depth 3 (same for back side) 0 -0.05 28 +0.05 0 ø3 0 -0.05 7.5 1 Compatible Controllers The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage. 120° Mounting surface ø59 (19) 4-M5 depth 8 (same for back side) 1.5 ø57 14° 120° 2-ø3+0.03 0 depth 3 ø57 10 +0.05 100 2 0.5 Mounting surface 3-M4 (effective depth 6) Flange plug (set screw M4 x 5) ø45 112 84 48 62 48 Mounting surface (same for opposite side) 4-ø4.5 62 ø76 ø18 9 6 50.5 31.5 6 8 12 5° 3.5 8 2-M3 17.5 (129.5) A 16 M8 (effective depth 4) Details of A Cable joint connector *1 Secure at least 100 Home Dimensions * When homing, the actuator swings 1 degree past the home position before returning. Therefore, please watch for any interference with the surrounding objects. *1 The motor-encoder cable is connected here. See page A-39 for details on cables. Weight (kg) 0.6 Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page Solenoid Valve Type PMEC-C-28PI-NP-2-1 Easy-to-use controller, even for beginners 3 points AC100V AC200V See P481 – → P477 PSEP-C-28PI-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-28PI-NP-2-0 – Positioner Type PCON-C-28PI-NP-2-0 Positioning is possible for up to 512 points 512 points – → P525 Safety-Compliant Positioner Type PCON-CG-28PI-NP-2-0 – Pulse Train Input Type (Differential Line Driver) PCON-PL-28PI-NP-2-0 Pulse train input type with differential line driver support (−) – Pulse Train Input Type (Open Collector) PCON-PO-28PI-NP-2-0 Pulse train input type with open collector support – Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points – Field Network Type RPCON-28P Dedicated to field network 768 points – → P503 Program Control Type PSEL-C-1-28PI-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-GR3LS 344 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