Iai rcp2 grss_specsheet
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This document introduces two new compact motorized grippers: the RCP2-GRSS slide type and the RCP2-GRLS lever type. Both achieve high grip force and long stroke despite their small size. The slide type provides excellent rigidity while the lever type allows easy gripping. The grippers can achieve positioning accuracy to 1500 points and adjustable grip force, making them suitable for applications with small, variable payloads.
![Model Designation
Types Options
Applicable Controllers
Type Model
Slide Type
Lever Type
Cable Lengths
Cable code
Specifications
Selection Guide
2
Name Model
Magnetic Encoder (incremental)
Temperature 0 to 40C, humidity 20 to 85% RH or below (non-condensing)
RCP2-GRSS Small gripper, Slide type RCP2-GRLS Small gripper, Lever type
L
Finger Attachment
RCP2-GRSS-I-20P-30-8-P1-
RCP2-GRLS-I-20P-30-180-P1-
in the model names shown above indicates the cable length
Type (model)
Open/close stroke
Maximum grip force (N)
Maximum open/close speed
Positioning repeatability
Lost motion
Dynamic permissible load moment (Nm)
Position detection method
Use environment
External dimensions (mm)
Actuator weight (Kg)
Controller
GRSS
8mm (4mm per side)
14
78mm/sec (per side)
±0.01mm
0.05mm or less
Ma:0.5 Mb:0.5 Mc:1.5
24(D) × 42(W) × 71 (L)
0.2
PCON/PSEL
GRLS
180 deg (90 deg per side)
6.4
600 deg/sec (per side)
±0.01 deg
0.1 deg or less
---
24 (D) x 42 (W) x 73 (L)
P (1m)
S (3m)
M (5m)
X06 (6m) — X10 (10m)
X11 (11m) — X15 (15m)
X16 (16m) — X20 (20m)
RCP2-GRSS -- 40mm or less RCP2-GRLS -- 40mm or less
Effective Grip Force (GRLS) = F × 15.5/(L+15.5)
16
14
12
10
8
6
4
2
0
0 10 20 30 40 50 60 70
7
6
5
4
3
2
1
0
0 10 20 30 40 50 60 70
* The gripping force of the GRLS is measured on the top face of the lever.
The actual gripping force decreases in inverse proportion to the distance from the
open/close fulcrum. Calculate the effective gripping force using the formula below:
F F
* The gripping force of the GRSS is measured with the finger attached.
The actual gripping force will depend on the structual integrity of the finger attachment.
F F
L
RCP2 - - I - 20P - 30 - - P1 - -
Series Type Encoder Type Motor Type Gear Ratio Open/Close
Stroke
Applicable Controller Cable Length Options
GRSS：
GRLS： I: Incremental 20P: Pulse Motor,
20 [ ] size
30: Gear ratio
1/30
8: 8mm (4mm per side)
180: 180 deg
(90 deg per side)
P1: PCON
PSEL
N: None P: 1m
S: 3m M: 5m
X[ ][ ]: Specified length
NM: Opposite-home specification
FB: Flange bracket
SB: Shaft bracket
Slide Type
Lever Type
Opposite-home specification
Flange Bracket
Shaft Bracket
Positioner Type
Safety Category Type
Solenoid Valve Type
Pulse Train Differential Reciever Type
Pulse Train Open Collector Type
Serial Communication Type
Program Mode Type
NM
FB
SB
Name
Item Slide Type Lever Type
Option Code
Type
Standard Type
(Robot Cable)
Special Length
All small grippers come standard with robot cables.
The transportable load weight varies depending on the friction coefficient determined by the materials of the finger and load, as well as the shape of the load. As a guide,
the transported load should normally weigh between 1/10 and 1/20 the gripping force. If the load is subject to significant acceleration/deceleration or impact during
transport, a greater margin must be provided (by reducing the weight to 1/30 to 1/50 the gripping force). The distance (L) from the finger attachment surface to the
gripping point must not exceed the following dimension:
Grip Force (N)
Current-limiting value (%)
Grip Force (N)
Current-limiting value (%)
P C O N - C - 2 0 P I - N P - 2 - 0
P C O N - C G - 2 0 P I - N P - 2 - 0
P C O N - C Y - 2 0 P I - N P - 2 - 0
P C O N - P L - 2 0 P I - N P - 2 - 0
P C O N - P O - 2 0 P I - N P - 2 - 0
P C O N - S E - 2 0 P I - N - 0 - 0
P S E L - C - 1 - 2 0 P I - N P - 2 - 0
By selecting the push operation mode, the gripping force (F) can be adjusted within a
range of 20 to 70% based on the current-limiting value set in the controller
Sold Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com](https://image.slidesharecdn.com/iaircp2grssspecsheet-141014103416-conversion-gate02/85/Iai-rcp2-grss_specsheet-3-320.jpg)
Iai rcp2 grss_specsheet
- 1. Small Gripper, Slide Type Small Gripper, Lever Type Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. Introducing new motorized grippers achieving high grip force and long stroke in a compact body New New RCP2-GRSS RCP2-GRLS Small Gripper, Slide Type Small Gripper, Lever Type Motorized Gripper Variations Features RCP2-GR3SS RCP2-GR3SM 3-finger gripper Slide type Compact, Lightweight, High gripping force and long stroke RCP2-GR3LS RCP2-GR3LM 3-finger gripper Lever type RCP2-GRS RCP2-GRM Gripper Slide type Slide type and Lever type 1 2 Maximum Grip Force Open/Close Stroke 14N Examples 1 The compact, lightweight actuator of just 42mm in width, 71mm in height and 200g in weight achieves high performance of 14 N maximum gripping force and 8mm in open/close stroke. 8mm The actuator performs positioning to a maximum of 1,500 points based on servo control and the gripping force with which the actuator grabs the load is also adjustable. Accordingly, you can adjust the open/close width of the fingers to make sure loads that deform easily are gripped properly. Since multiple positioning points are supported, the open/close width can be adjusted. This is perfect for those applications where the loads are positioned at a small pitch and load positions also change. Two types are available for you to choose from. The slider type with a guide promises excellent rigidity, while the lever type ensures easy gripping of the load because the lever opens 180 degrees. Slider Lever Zone signal output and simple length measurement The right and left sliders or levers move simultaneously to center the load. Multiple positioning points and adjustable gripping force The zone signal function lets you set a desired zone and cause a signal to be output when the actuator enters the specified zone. This function is ideal for load discrimination and other operations. By using serial communication, you can also check the current position of the actuator. This feature can be used to perform simple length measurement. 3 4 Pick and Place Centering Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 3. Model Designation Types Options Applicable Controllers Type Model Slide Type Lever Type Cable Lengths Cable code Specifications Selection Guide 2 Name Model Magnetic Encoder (incremental) Temperature 0 to 40C, humidity 20 to 85% RH or below (non-condensing) RCP2-GRSS Small gripper, Slide type RCP2-GRLS Small gripper, Lever type L Finger Attachment RCP2-GRSS-I-20P-30-8-P1- RCP2-GRLS-I-20P-30-180-P1- in the model names shown above indicates the cable length Type (model) Open/close stroke Maximum grip force (N) Maximum open/close speed Positioning repeatability Lost motion Dynamic permissible load moment (Nm) Position detection method Use environment External dimensions (mm) Actuator weight (Kg) Controller GRSS 8mm (4mm per side) 14 78mm/sec (per side) ±0.01mm 0.05mm or less Ma:0.5 Mb:0.5 Mc:1.5 24(D) × 42(W) × 71 (L) 0.2 PCON/PSEL GRLS 180 deg (90 deg per side) 6.4 600 deg/sec (per side) ±0.01 deg 0.1 deg or less --- 24 (D) x 42 (W) x 73 (L) P (1m) S (3m) M (5m) X06 (6m) — X10 (10m) X11 (11m) — X15 (15m) X16 (16m) — X20 (20m) RCP2-GRSS -- 40mm or less RCP2-GRLS -- 40mm or less Effective Grip Force (GRLS) = F × 15.5/(L+15.5) 16 14 12 10 8 6 4 2 0 0 10 20 30 40 50 60 70 7 6 5 4 3 2 1 0 0 10 20 30 40 50 60 70 * The gripping force of the GRLS is measured on the top face of the lever. The actual gripping force decreases in inverse proportion to the distance from the open/close fulcrum. Calculate the effective gripping force using the formula below: F F * The gripping force of the GRSS is measured with the finger attached. The actual gripping force will depend on the structual integrity of the finger attachment. F F L RCP2 - - I - 20P - 30 - - P1 - - Series Type Encoder Type Motor Type Gear Ratio Open/Close Stroke Applicable Controller Cable Length Options GRSS： GRLS： I: Incremental 20P: Pulse Motor, 20 [ ] size 30: Gear ratio 1/30 8: 8mm (4mm per side) 180: 180 deg (90 deg per side) P1: PCON PSEL N: None P: 1m S: 3m M: 5m X[ ][ ]: Specified length NM: Opposite-home specification FB: Flange bracket SB: Shaft bracket Slide Type Lever Type Opposite-home specification Flange Bracket Shaft Bracket Positioner Type Safety Category Type Solenoid Valve Type Pulse Train Differential Reciever Type Pulse Train Open Collector Type Serial Communication Type Program Mode Type NM FB SB Name Item Slide Type Lever Type Option Code Type Standard Type (Robot Cable) Special Length All small grippers come standard with robot cables. The transportable load weight varies depending on the friction coefficient determined by the materials of the finger and load, as well as the shape of the load. As a guide, the transported load should normally weigh between 1/10 and 1/20 the gripping force. If the load is subject to significant acceleration/deceleration or impact during transport, a greater margin must be provided (by reducing the weight to 1/30 to 1/50 the gripping force). The distance (L) from the finger attachment surface to the gripping point must not exceed the following dimension: Grip Force (N) Current-limiting value (%) Grip Force (N) Current-limiting value (%) P C O N - C - 2 0 P I - N P - 2 - 0 P C O N - C G - 2 0 P I - N P - 2 - 0 P C O N - C Y - 2 0 P I - N P - 2 - 0 P C O N - P L - 2 0 P I - N P - 2 - 0 P C O N - P O - 2 0 P I - N P - 2 - 0 P C O N - S E - 2 0 P I - N - 0 - 0 P S E L - C - 1 - 2 0 P I - N P - 2 - 0 By selecting the push operation mode, the gripping force (F) can be adjusted within a range of 20 to 70% based on the current-limiting value set in the controller Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. Catalog No. CJ0124-2A-UST-2-0708 External Dimensions Slide Type Model Lever Type Model Options , depth Same on the opposite side , through Same on the opposite side Same on the opposite side Same on the opposite side Shaft Bracket Flange Bracket , depth , depth , depth , depth , depth , depth , depth , depth , depth , depth , depth , depth , depth , bored , bored , reamed through , depth , depth , depth , depth , depth , depth , depth Same on the opposite side Same on the opposite side Same on the opposite side Same on the opposite side Same on the opposite side Same on the opposite side Same on the opposite side Same on the opposite side Unit Model: Unit Model: Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com