IAI 05 RC General CJ0203-2A P371-416 Gripper

8/12/2019 IAI 05 RC General CJ0203-2A P371-416 Gripper

1/46

RCP2 ROBO Cylinder

371 Gripper Type / Rotary Type

Gripper Type / Rotary Type


RCP2RCS2

RCP2-GRSS

RCS2-RT6

RCP2-GRHM

RCP2-GRLS

RCS2-RTC10L

RCP2-GR3SSRCP2-GRHB

RCP2-GRS

RCS2-RTC12L

RCS2-GR8

RCP2-GRM RCP2-GRST

RCP2-RTBS/RTBSL

RCS2-RTC8L/RTC8HL

RCP2-RTB/RTBL

RCP2-RTBB/RTBBL

RCP2-RTCS/RTCSL

RCP2-RTC/RTCL

RCP2-RTCB/RTCBL

RCP2-GR3LS


2/46

RCP2 ROBO Cylinder

Gripper Type / Rotary Type 372


RCP2 seriesPulse

MotorType

2-Finger Gripper Mini Slider Type 42mm Width RCP2-GRSS 373Mini Lever Type 42mm Width RCP2-GRLS 375Small Slider Type 69mm Width RCP2-GRS 377Medium Slider Type 74mm Width RCP2-GRM 379Long Stroke Slider Type 130mm Width RCP2-GRST 381

190mm WidthMedium High-force Gripper 116mm Width RCP2-GRHM 383Large High-force Gripper 131mm Width RCP2-GRHB 385

3-Finger Gripper Lever Type 62mm Width RCP2-GR3LS 38780mm Width RCP2-GR3LM 389

Slider Type 62mm Width RCP2-GR3SS 39180mm Width RCP2-GR3SM 393

RCS2 series200V ServoMotor Type

2-Finger Gripper Long Stroke Slider Type 104mm Width RCS2-GR8 395

284mm Width

RCP2seriesPulseMotor Type

Rotary Small Vertical Type 45mm Width RCP2-RTBS/RTBSL397Small Flat Type 72mm Width RCP2-RTCS/RTCSL399Medium Vertical Type 50mm Width RCP2-RTB/RTBL 401Medium Flat Type 88mm Width RCP2-RTC/RTCL 403Large Vertical Type 76mm Width RCP2-RTBB/RTBBL405Large Flat Type 124mm Width RCP2-RTCB/RTCBL407

RCS2 series200V ServoMotor Type

Hollow Rotary Small Type 85mm Width RCS2-RTC8L/RTC8HL409Medium Type 99mm Width RCS2-RTC10L 411Large Type 123mm Width RCS2-RTC12L 413

Rotary Straight Motor Type 64mm Width RCS2-RT6 415

~

~


3/46

RCP2 ROBO Cylinder

373 RCP2-GRSS

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OptionsName Option code See page Standard price

Non-motor end specification NM A-52 Flange bracket FB A-43 Shaft bracket SB A-55

Actuator Specifications

Item DescriptionDrive System Worm gear + helical gear + helical rack Positioning repeatability 0.01mmBacklash 0.2mm or less per side (constantly pressed out by a spLost motion 0.05mm or less per sideGuide Linear guideAllowable static load moment Ma: 0.5 N m, Mb: 0.5 N m, Mc: 1.5 N mWeight 0.2kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)

Actuator Specications

Lead and Payload Stroke and Max. Opening/Closing Speed

Code explanation Applicable Controller Cable length Options (Unit: mm/s)

Stroke 8(mm)Deceleration ratio

30 78(per side)

Model number Deceleration Ratio Maximum GrippingForce (N)Stroke(mm)

RCP2-GRSS-I-20P-30-8- - - 30 14(7 per side)8

(4 per side)

(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speedis twice this value.

(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where thereis no offset or overhang distance. The work piece weight that can be actually moved depends on the frictioncoefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a roughguide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.)

(3) The rated acceleration while moving is 0.3G.

G r i p p

i n g

f o r c e

( N )

Current Limit (% ratio)

00 10 20 30 40 50 60 70

2

4

6

8

10

12

14

16

L2

L 1

Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely

within the range of current limits of 20% to 70%.

* Operate with the L1 distance up to 40mm.* The gripping force value in the graph below is when both

L1 and L2 are at 0 mm. (For gripping force reference perL1 distance, see page A-87.)The gripping force value is the sum of gripping forces of

both fingers.

* The gripping force graph above shows reference numbers.Please allow margins up to 15%.

* Please note that, when gripping (pushing), the speed is fixed at5mm/s.

Stroke

Stroke(mm) Standard price

8

AppendixP. 5

RCP2-GRSS ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 42mm, Pulse Motor

30 :1/30decelerationratio

20P: Pulse motor,20 size

I: Incremental* The Simple absoluteencoder is alsoconsidered type "I".

P1: PCON-PL/PO/SEPSEL

P3: PCON-CA PMEC/PSEP

MSEP

N: None P: 1m S: 3m M: 5mX : Custom Length

Deceleration RatioStroke Cable length OptionsTypeGRSS

Encoder typeI

Motor type20P

Applicable controllerSeriesRCP2ModelSpecication

Items8: 8mm

(4mm per side)

* See page Pre-47 for details on the model descriptions.

NM: Non-motor endFB: Flange bracketSB: Shaft bracket

30 8

Type Cable symbol Standard price

Standard(Robot Cables)

P (1m) S (3m) M (5m)

Special lengthX06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)

* The standard cable is the motor-encoder integrated robot cable.* See page A-59 for cables for maintenance.

Cable Length


4/46

RCP2 ROBO Cylinder

RCP2-GRSS 374

4

1 3

. 9

2

43

47

(same for opposite side)

4

4

9

3 4

4-M3 depth 5

1 7

(same for opposite side)8-M3 dapth 5


8.517


(same for opposite side)8-M3 depth 5


8.5

17

3 5

4 2

24

M I N 5

. 5

M A X 1 3

. 5

2-M3 depth 4 1.5

71

4 . 2

5

+0.030 depth 32-3

+0.030 depth 32-3

+0.030 depth 33

+0.050 depth 33+0.05

0 depth 32-3

- 0.050

9

+0.050 depth 32-3

Cable jointconnector*1

S e c u r e a t

l e a s t

1 0 0

- 0

. 0 1 0

0

2 -

3 h 7

(

)

Dimensional Drawings

Weight (kg) 0.2

*The opening side of the slider is the home position.(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.

Name Externalview Model number FeaturesMaximum number ofpositioning points

Inputpower

Power-supplycapacity

Standardprice

Referencepage

Solenoid Valve TypePMEC-C-20PI- -2- Easy-to-use controller, even for beginners

3 points

AC100VAC200V

Refer toP541 P537

PSEP-C-20PI- -2-0 Simple controller operable with the samesignal as a solenoid valve

DC24V

Refer toP555 P547

Solenoid valve multi-axis typePIO specification MSEP-C- -~- -2-0

Positioner type based on PIO control,allowing up to 8 axes to be connected Refer to

P572 P563

Solenoid valve multi-axis typeNetwork specification MSEP-C- -~- -0-0

Field network-ready positioner type,allowing up to 8 axes to be connected 256 points

Positioner typeHigh-output specification PCON-CA-20PI- -2-0

Equipped with a high-output driverPositioner type based on PIO control 512 points

Refer toP618

P607Pulse-train typeHigh-output specification PCON-CA-20PI-PL-2-0Equipped with a high-output driverPulse-train input type ()

Field network typeHigh-output specification PCON-CA-20PI- -0-0

Equipped with a high-output driverSupporting 7 major field networks 768 points

Pulse Train Input Type(Differential Line Driver) PCON-PL-20PI- -2-0

Pulse train input type with differential linedriver support

()Refer to

P628

P623Pulse Train Input Type(Open Collector) PCON-PO-20PI- -2-0Pulse train input type with open collectorsupport

Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points

Program Control Type PSEL-CS-1-20PI- -2-0

Programmed operation is possible.Can operate up to 2 axes 1,500 points

Refer toP671

P665

* This is for the single-axis PSEL. * indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V).* indicates number of axes (1 to 8). * indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.

RCP2 series actuators can be operated with the controllers indicated below. Select the type a ccording to your intended application.Applicable Controllers

AppendixP.15

CAD drawings can be downloadedfrom the website. www.intelligentactuator.com

2DCAD2D

CAD


5/46

RCP2 ROBO Cylinder

375 RCP2-GRLS

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L

G r i p p

i n g

f o r c e

( N )


00 10 20 30 40 50 60 70

1

2

3

4

5

6

7



Code explanation Applicable Controller Cable length Options (Unit: degree/s)

Stroke 180 (deg)Deceleration ratio

30 600(per side)

Model number Deceleration Ratio Maximum GrippingForce (N)Stroke(deg)

RCP2-GRLS-I-20P-30-180- - - 30 6.4(3.2 per side)180

(90 per side)


Non-motor end specification NM A-52 Flange bracket FB A-43 Shaft bracket SB A-55


Item DescriptionDrive System Worm gear + helical gearPositioning repeatability 0.01deg.Backlash 1 degree or less per side (constantly pressed out by a spLost motion 1 degree or lessGuide Allowable static load moment Weight 0.2kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)

(1)The maximum opening/closing speed indicates the operating speed on one side. The relative operating speedis twice this value.

(2)The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where thereis no offset or overhang distance. The work piece weight that can be actually moved depends on the frictioncoefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a roughguide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.)

(3)The rated acceleration while moving is 0.3G.

Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted free ly

within the range of current limits of 20% to 70%.* The gripping force of the graph

below is measured on the t opface of the lever. The actualgripping force drops in inverseproportion to the distance fromthe opening/closing fulcrum.Calculate the effective grippingforce using the formula below.

* Operate with the L distanceup to 40mm.

Stroke

Stroke(deg) Standard price

180

Appendix

P. 5

Effective gripping force (GRLS ) = F x 15.5/ (L + 15.5)

* In the graph below, the gripping force value is the sum of

gripping forces of both fingers.

RCP2-GRLS ROBO Cylinder, 2-Finger Gripper, Mini Lever Type, Actuator Width 42mm, Pulse Motor

30: 1/30decelerationratio





MSEP


Deceleration RatioStroke Cable length OptionsTypeGRLS

Encoder typeI

Motor type20P


Items180: 180degrees

(90 degreesper side)


NM: Non-motor endFB: Flange bracketSB: Shaft bracket

30 180


* Please note that, when gripping (pushing), the speed is fixed at5 degrees/s.

Type Cable symbol Standard price


P (1m) S (3m) M (5m)



Cable Length


6/46

RCP2 ROBO Cylinder

RCP2-GRLS 376

9

9

1 8

4-M4 through

5 5

2 4

66.5

45

(same for opposite side)8-M3 depth 5




8-M3 depth 5

4 2

4-M3 depth 5

49 (same for opposite side)

4

4

8.5

17

3 5


1 7

17

4

9

3 4

73

15.5

M I N 0

M A X 1 8 0

36

18

S e c u r e a t

l e a s t

1 0 0

Cable joint

connector*1

+0.030 depth 32-3

+0.030 depth 2.52-4 +0.030 depth 32-3 +0.030 depth 33

+0.050 depth 33

+0.050 depth 32-3

+0.050 depth 32-3


Weight (kg) 0.2

*The opening side of the slider is the home position.(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.


Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547



P572 P563Solenoid valve multi-axis typeNetwork specification MSEP-C- -~- -0-0




Refer toP618






()Refer to

P628



ProgramControl Type PSEL-CS-1-20PI- -2-0


Refer toP671 P665


RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.Applicable Controllers

AppendixP.15


2DCAD2D

CAD


7/46

RCP2 ROBO Cylinder

377 RCP2-GRS

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G r i p p

i n g

f o r c e

( N )


00 10 20 30 40 50 60 70

5

10

15

20

25

30

35


Flange bracket FB A-43 Shaft bracket SB A-55


Item DescriptionDrive System Timing belt + trapezoidal screw (1.5 lead)Positioning repeatability 0.01mmBacklash 0.15mm or less per side (constantly pressed out by a spLost motion 0.1mm or less per sideGuide Cross roller guideAllowable static load moment Ma: 6.3 N m, Mb: 6.3 N m, Mc: 7.0 N mWeight 0.36kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)





1 33.3(per side)


RCP2-GRS-I-20P-1-10- - - 1 21(10.5 per side)10

(5 per side)




Stroke


10

Appendix

P. 5

Cable Length

Type Cable symbol Standard Price

StandardP (1m) S (3m) M (5m)

Special lengthX06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m)

X16 (16m) ~ X20 (20m)

Robot Cable

R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)

* See page A-59 for cables for maintenance.

RCP2-GRS ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 69mm, Pulse Motor

1 : 1/1decelerationratio





MSEP

N: None P: 1m S: 3m M: 5mX : Custom LengthR : Robot cable

Deceleration RatioStroke Cable length OptionsTypeGRS

Encoder typeI

Motor type20P


Items10: 10mm

(5mm per side)


SB: Shaft bracketFB: Flange bracket

1 10

L2

L 1




L1 and L2 are at 0 mm. (For gripping force reference perL1 distance, see page A-87.)The gripping force value is the sum of gripping forces ofboth fingers.




8/46

RCP2 ROBO Cylinder

RCP2-GRS 378

M A X 1 1

M I N 1


+0.030 depth 2.52-3

+0.030 depth 2.53

+0.050 depth 2.52-3

+ 0

. 0 5

0

d e p t h

2 . 5

3

+ 0

. 0 3

0

4

- 0.050

10

3 0

6871

212-M4 depth 84-M4 depth 6

2 4


S e c u r e a t

l e a s t

1 0 0

4

4-M4 depth 71.5

24

7

9

2 9

2 8



2 1

3

5

6 9

2 4

3 6


Weight (kg) 0.36

*The opening side of the slider is the home position.(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.


Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547







Refer toP618






()Refer to

P628





Refer toP671 P665



AppendixP.15


2DCAD2D

CAD

The holes in the slider shown above, other than tapped holes,are used to install the slider onto the actuator. They cannot beused as finger positioning holes. Use the key slots to positionthe fingers.

Note:


9/46

RCP2 ROBO Cylinder

379 RCP2-GRM

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00 10 20 30 40 50 60 70

20

40

60

80

100

120

140

i

i





Stroke 14 (mm)Deceleration ratio

1 36.7(per side)




Item DescriptionDrive System Timing belt + trapezoidal screw (1.5 lead)Positioning repeatability 0.01mmBacklash 0.15mm or less per side (constantly pressed out by a spLost motion 0.1mm or less per sideGuide Cross roller guideAllowable static load moment Ma: 6.3 N m, Mb: 6.3 N m, Mc: 8.3 N mWeight 0.5kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)


RCP2-GRM-I-28P-1-14- - - 1 80(40 per side)14

(7 per side)




Gripping Force vs. Current Limit The gripping (pushing) fo rce can be adjusted freely


Appendix

P. 5

RCP2-GRM ROBO Cylinder, 2-Finger Gripper, Medium Slider Type, Actuator Width 74mm, Pulse Motor






MSEP

N: None P: 1m S: 3m M: 5mX : Custom LengthR : Robot cable

Deceleration RatioStroke Cable length OptionsTypeGRM

Encoder typeI

Motor type28P


Items14: 14mm

(7mm per side)


SB: Shaft bracketFB: Flange bracket

1 14



L2

L 1


14

Stroke




X16 (16m) ~ X20 (20m)

Robot Cable



Cable Length


L1 and L2 are at 0 mm. (For gripping force reference per L1distance, see page A-87.)

The gripping force value is the sum of gripping forces of

both fingers.


10/46

RCP2 ROBO Cylinder

RCP2-GRM 380

7679

2-M5 depth 8

4-M4 depth 6

1 1

. 5 2 5

M A X 1 5

M I N 1

3 5

7 4



S e c u r e a t

l e a s t

1 0 0

3 6

3

4

4-M4 depth 81.5

25

7

5

2 8

2 4

3 6


2 2

24


+0.030 depth 2.52-3

+0.030 depth 2.53

+0.050 depth 2.52-3

+ 0

. 0 5

0

d e p t h

2 . 5

3

+ 0

. 0 3

0

5

- 0.050

12


Weight (kg) 0.5

*The opening side of the slider is the home position.(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.


Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547







Refer toP618






()Refer to

P628





Refer toP671 P665



AppendixP.15


2DCAD2D

CAD

The holes in the slider shown above, other than tapped holes,are used to install the slider onto the actuator. They cannot beused as finger positioning holes. Use the key slots to positionthe fingers.

Note:


11/46

RCP2 ROBO Cylinder

381 RCP2-GRST

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Item DescriptionDrive System Timing belt + worm/rack gearPositioning repeatability 0.01mmBacklash 0.2mm or less per sideLost motion Guide Linear guideAllowable stat ic load moment Ma: 2.93 N m, Mb: 2 .93 N m, Mc: 5 .0 N mWeight 0.51kg (40-stroke) ~ 0.66kg (100-stroke)Ambient operating temperature, humidity 0 to 40 C, 85% RH or less (Non-condensing)


Leads and Payload Stroke and Max. Opening/Closing Speed

Code explanation Stroke Applicable Controller Cable length Options (Unit: mm/s)

Stroke 40~100(mm)Deceleration ratio

1 75

2 34


RCP2-GRST-I-20P-1- - - - 1 20(10 per side) 40~100(every 20mm )

RCP2-GRST-I-20P-2- - - - 2 40(20 per side)




Appendix

P. 5

Cable Length Type Cable symbol Standard price


P (1m) S (3m) M (5m)

Special length X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)


Stroke


40 60

80 100


Non-motor end specification NM A-52 Cable exiting from bottom A0 A-41 Cable exiting from side A1 A-41

*Be sure to specify the side from which you want the cable to exit (A0 or A1).

RCP2-GRST1: 1/1 deceleration

ratioHigh-Speed Type

2: 1/2 decelerationratioStandard Type





MSEP

N: None P: 1m S: 3m M: 5mX : Custom

Length

Deceleration RatioStroke Cable length OptionsTypeGRST

Encoder typeI

Motor type20P


Items 40 : 40mm 60 : 60mm 80 : 80mm 100 : 100mm


See Options below.* Be sure to specify the

side from which youwant the cable to exit

(A0 or A1).

ROBO Cylinder, 2-Finger Gripper, Long Stroke Slide Type, Actuator Width 130~190mm,Pulse Motor

StandardHigh-Speed Type

00 10 20 30 40 50 60 8070

5

10

15

20

25

40

45

30

35

G r i p p

i n g

f o r c e

( N )





L1 and L2 are at 0 mm. (For gripping force reference per L1distance, see page A-87.)The gripping force value is the sum of gripping forces of

both fingers.

L2

L 1




12/46

RCP2 ROBO Cylinder

RCP2-GRST 382

+0.030 depth 33

+0.030 depth 33

+0.050 depth 33

+ 0

. 0 5

0

d e p

t h 3

3

+0.030 depth 33

Unlocking screw

1

9

19

120.05

2.5

3 1 2

. 5 0

. 0 5 4-M3 depth 5

M N

L(0.5)(0.5)

40

stst 6

60

242424.5

2 8

1 2

. 5

2 5

. 5

2-M4 depth 6

4

10.5



2 C 0

. 5 2 C 0

. 5

M60

4-M3 depth 5

N

( s a m e

f o o p p o s

i t e s i

d e

)

2 6

Cable exit from bottom(Model: A0)

( 2 1 0 )

4

Cable joint connector*1

Cable exiting from side(Model: A1

2 1

. 5

2 8

32Secure at least 100

5 3

. 5

33

11

25 0 0.05 4

* The current position of the slideris the home position.


* The opening side of the slider is the home position.(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.


Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547







Refer toP618






()Refer to

P628





Refer toP671 P665



Appendix

P.15CAD drawings can be downloadedfrom the website. www.intelligentactuator.com

2DCAD2D

CAD

Stroke 40 60 80 100L 130 150 170 190M 71.5 81.5 91.5 101.5N 57.5 67.5 77.5 87.5

Weight (kg) 0.51 0.56 0.61 0.66

Dimensions and Weight by Stroke


13/46

RCP2 ROBO Cylinder

383 RCP2-GRHM

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Current limit (% ratio)

G r i p p

i n g

F o r c e

( N )



both fingers.

L2

L 1





AppendixP. 5


Cable exit direction (top) CJT A-42 Cable exit direction (right) CJR A-42 Cable exit direction (left) CJL A-42 Cable exit direction (bottom) CJB A-42 Flange Bracket FB A-43 Shaft bracket SB A-55





2 100(per side)


RCP2-GRHM-I-35P-2-32- - - 2 125(62.5 per side)32

(16 per side)

Stroke


32

(*) Based on a 5,000km service life.


Item DescriptionDrive System Timing belt + trapezoidal screw (2 lead)Positioning repeatability 0.01mmBacklash 0.2mm or less per side (constantly pressed out by a spLost motion 0.15mm or less per sideGuide Linear guideAllowable static load moment (*) Ma: 11.7 N m, Mb: 16.7 N m, Mc: 46.5 N mWeight 1.14kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)

RCP2-GRHM2: Feed screw lead 2


I: Incremental P1: PCON-PL/PO/SEPSEL


MSEP


Deceleration RatioStroke Cable length OptionsTypeGRHM

Encoder typeI

Motor type35P


Items32: 32mm

(16mm per side)


See Options below.

2 32

ROBO Cylinder, 2-Finger Gripper, Medium High-force Type, Actuator Width 116mm,24V Pulse Motor



P (1m) S (3m) M (5m)




14/46

RCP2 ROBO Cylinder

RCP2-GRHM 384

2-4

*ME: Mechanical End

Home

Bottom

Cable Exit Direction (Optional)

Top

Right

Left

Home

ST=16

ST=16

A t l e a s t

1 0 0 o r m o r e

3 6

. 5

3 4

. 5

30

1 8

18

0 . 5

( M E )

6

3 4

. 5

4 4

0 . 5

( M E )

3 4

. 5

3 6

6 0

1 0

1 1 6

4 0

5

2 8

1 0

49.5

4 3

4 0+0.012 depth 5 (same on opposite side)2-M5 depth 10 (same on opposite side)

14.8

2 7

. 6

61.9 43.1

102105

4 0+0.012oblong hole, depth (same on opposite side)

34

5

5 0

4-M5 depth 8

2 5

2 5

5 8

4 0+0.012depth 5

4 0

+ 0

. 0 1 2

At least 100 or more

56.5 32 16.5

0 . 5

( M E )

1053 102

6

2 5

3 2

0+0.012 depth 5

4-M4, depth 6

o b l o n g

h o

l e ,

d e p

t h

5

Motor & Encoder Connection*

Home



Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541 P537


DC24V

Refer toP555 P547



P572 P563





Refer toP618






()Refer to

P628





Refer toP671

P665



Appendix


2DCAD2D

CAD

Weight (kg) 1.14

* Connect the motor-encoder integrated cable here.(See page A-59 for details on cables.)


15/46

RCP2 ROBO Cylinder

385 RCP2-GRHB

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Appendix

P. 5



P (1m) S (3m) M (5m)




Cable exit direction top) CJT A-42 Cable exit direction (right) CJR A-42 Cable exit direction (left) CJL A-42 Cable exit direction (bottom) CJB A-42 Flange Bracket FB A-43 Shaft bracket SB A-55





2 100(per side)


RCP2-GRHB-I-42P-2-40- - - 2 200(100 per side)40

(20 per side)

Stroke


40


(*) Based on a 5,000km service life.

Item DescriptionDrive System Timing belt + trapezoidal screw (2 lead)Positioning repeatability 0.01mmBacklash 0.2mm or less per side (constantly pressed out by a spLost motion 0.15mm or less per sideGuide Linear guideAllowable static load moment (*) Ma: 15.7 N m, Mb: 26.4 N m, Mc: 59.8 N mWeight 1.5kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)

RCP2-GRHB2: Feed screw lead 2


I: Incremental P1: PCON-PL/PO/SEPSEL


MSEP


Deceleration RatioStroke Cable length OptionsTypeGRHB

Encoder typeI

Motor type42P


Items40:40mm

(20mm per side)


See Options below.

2 40

ROBO Cylinder, 2-Finger Gripper, Large High-force Type, Actuator Width 131mm,24V Pulse Motor





both fingers.

L2

L 1




16/46


17/46

RCP2 ROBO Cylinder

387 RCP2-GR3LS

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F

00 10 20 30 40 50 60 70

5

10

15

20

25

30

35

G r i p p

i n g

f o r c e

P ( N )







Code explanation Applicable Controller Cable length Options (Unit: degrees/s)


30 200


RCP2-GR3LS-I-28P-30-19- - - 30 18(6 per side) 19


(2)The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right,or page A-86.

(3)The rated acceleration while moving is 0.3G.



* The values in the graph below are gripping forces at 10mmgripping point. The actual gripping force decreasesinversely proportional to the distance from the opening/closing point.

You can calculate the actual gripping force by the followingequation.

Actual gripping force (GR3LS) = P 24 / (L + 14) P = Gripping force on graph L = Distance from finger mounting surface to the gripping

point. (Operate with the L1 distance under 50mm.)

AppendixP. 5

* Please note that, whengripping (pushing), thespeed is fixed at 5 deg/s.

RCP2-GR3LS ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 62mm, Pulse Motor






MSEP

N: None P: 1m S: 3m M: 5mX : Custom length R : Robot cable

Deceleration RatioStroke Cable length OptionsTypeGR3LS

Encoder typeI

Motor type28P


Items19: 19 degrees


FB: Flange bracketSB: Shaft bracket

30 19




X16 (16m) ~ X20 (20m)

Robot Cable



Cable Length


19

Stroke


Item DescriptionDrive System Worm gear + worm wheel gearPositioning repeatability 0.01 degreesBacklash 1degree or less per side (constantly pressed out by a spLost motion 0.15 degrees or less per sideWeight 0.6kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)


18/46

RCP2 ROBO Cylinder

RCP2-GR3LS 388

+0.0503

0 -

0 . 0

5

8

+0.030 depth 32-3

+ 0

. 0 5

0

1 0

+0.050

depth 32-3

Flange plug (set screw M4 x 5)

5 7

5 7

3-M4 (effective depth 6)

3.57.5

2-M3

Details of A

2 0.5

Cable jointconnector *1

S e c u r e a t

l e a s t

1 0 0

(same for back side)

1 2 0

Mountingsurface

1 2 0

4 5

11217.5

(129.5)

A

28 84

8


4 8

62

Mounting surface

4- 4.5

6 2

7

6

1 8 9

6

M8 (effective depth 4)

Home

1 4

Mounting surface

6

1 2

5



2 4

3

6

(19)

4-M5 depth 81.5

10

48

50.531.516

4

0 -

0 . 0

5

5 9


Weight (kg) 0.6

* When homing, the actuator swings 1 degree past the home position before returning.Therefore, please watch for any interference with the surrounding objects.

(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.


Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547







Refer toP618






()Refer to

P628





Refer toP671 P665



AppendixP.15


2DCAD2D

CAD


19/46

RCP2 ROBO Cylinder

389 RCP2-GR3LM

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Item DescriptionDrive System Worm gear + worm wheel gearPositioning repeatability 0.01 degreesBacklash 1 degree or less per side (constantly pressed out by a spLost motion 0.15 degrees or less per sideWeight 1.1kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)



Code explanation Applicable Controller Cable length Options (Unit: degrees/s)


30 200


RCP2-GR3LM-I-42P-30-19- - - 30 51(17 per side) 19

AppendixP. 5

F

00 10 20 30 40 50 60 70

10

20

30

40

50

60

70

G r i p p

i n g

f o r c e

P ( N )



Gripping Force Adjustment The gripping (pushing) force can be adjusted freely


* The values in the graph below are gripping forces at 10mmgripping point. The actual gripping force decreasesinversely proportional to the distance from the opening/closing point.

You can calculate the actual gripping force by the followingequation.

Actual gripping force (GR3LM) = P 28.5 / (L + 18.5) P = Gripping force on graph

L = Distance from finger mounting surface to the grippingpoint.

(Operate with the L distance up to 80mm.)

* Please note that, whengripping (pushing), thespeed is fixed at 5 deg/s.


(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right,or page A-86.


RCP2-GR3LM ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 80mm, Pulse Motor






MSEP


Deceleration RatioStroke Cable length OptionsTypeGR3LM

Encoder typeI

Motor type42P


Items19: 19 degrees



30 19


19

Stroke




X16 (16m) ~ X20 (20m)

Robot Cable



Cable Length


20/46

RCP2 ROBO Cylinder

RCP2-GR3LM 390

+0.05

03

0 -

0 . 0

5

1 0

0 -

0 . 0

5

7 7

+0.030 depth 32-3

+ 0

. 0 5

0

1 0

+0.050 depth 32-3

4- 5.5

8 0

6 2

62

7 5

M8 (effective depth 4)


114

80

9

8

1 4

. 5

7

Mounting surface

Mounting surface

22

(136)


1.5

64

3 4

1 8

4 8

(23.5)

7 1 4

40.5

4

127836

A

20Home

5


(same for back side)4-M6 depth 12 S

e c u r e a t

l e a s t

1 0 0


Mountingsurface

7 5

4 109

2-M4


1 2 0 1 2

0


6 2

Details of A

2 0.5

2 9


Weight (kg) 1.1

* When homing, the actuator swings 1 degree past the home position before returning.Therefore, please watch for any interference with the surrounding objects.



Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541 P537


DC24V

Refer toP555 P547



P572 P563





Refer toP618






()Refer to

P628





Refer toP671

P665



AppendixP.15


2DCAD2D

CAD


21/46

RCP2 ROBO Cylinder

391 RCP2-GR3SS

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30 40


RCP2-GR3SS-I-28P-30-10- - - 3022

(7.3 per side) 10

Stroke


10

Appendix

P. 5

Cable Length Type Cable symbol Standard Price



X16 (16m) ~ X20 (20m)

Robot Cable






RCP2-GR3SS ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 62mm, Pulse Motor






MSEP


Deceleration RatioStroke Cable length OptionsTypeGR3SS

Encoder typeI

Motor type28P


Items10: 10mm

(5mm per side)



30 10

Item DescriptionDrive System Worm gear + worm wheel gearPositioning repeatability 0.01mmBacklash 0.3mm or less per side (constantly pressed out by a spLost motion 0.1mm or less per sideGuide Cross roller guideAllowable static load moment Ma: 3.8 N m, Mb: 3.8 N m, Mc: 3.0 N mWeight 0.6kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)


F L

00 10 20 30 40 50 60 70

5

10

15

20

25

30

35

G r i p p

i n g

f o r c e

P ( N )




* Operate with the L distance up to 50mm.* The gripping force value in the graph below is when L is

at 0 mm. (For gripping force reference per L distance,see page A-87.)

The gripping force value is the sum of gripping forces ofboth fingers.

* Please note that, whengripping (pushing), thespeed is fixed at 5mm/s.



22/46

RCP2 ROBO Cylinder

RCP2-GR3SS 392



S T 5


1 2 0

7

6

5 7

1 . 5

1 2 0

5

7


4 5

3-M3 depth 5

5

3 . 5

6 2

Mounting surface

4 8

2 0.5

0 -

0 . 0

5

6

+0.030 depth 32-3

0 -

0 . 0

1 0

(

)

3 -

2

. 5 h 7

+ 0

. 0 5

0

1 0

+0.050 depth 32-3

0 -

0 . 0

5

5 9


S e c u r e a t

l e a s t

1 0 0

Mountingsurface

704

40

104

110

A

B

Details of A



4

2 4

3 6

4-M5 depth 82

1045

Mountingsurface 1.5

1 8

4 ~

9

4- 4.548

62

1 . 5

1 5

9 counterbore, depth 1.5M8 (effective depth 6)

3-M3 depth 5


S T 5

1 . 5

1 8

5

3 . 5

4 ~

9

48

62

1 . 5

1 5 Home

Details of B


Weight (kg) 0.6

* When homing, the actuator swings 0.5mm past the home position before returning.Therefore, please watch for any interference with the surrounding objects.



Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541 P537


DC24V

Refer toP555 P547



P572 P563





Refer toP618






()Refer to

P628





Refer toP671

P665



Appendix


2DCAD2D

CAD


23/46

RCP2 ROBO Cylinder

393 RCP2-GR3SM

ni

ni

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votor4V)

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lersted

lersted

AppendixP. 5

F L

00 10 20 30 40 50 60 70

20

40

60

80

100

120

130

G r i p p

i n g

f o r c e

P ( N )









30 50


RCP2-GR3SM-I-42P-30-14- - - 30102

(34 per side) 14



* Operate with the L distance up to 80mm.* The gripping force value in the graph below is when L is

at 0 mm. (For gripping force reference per L distance,see page A-87.)

The gripping force value is the sum of gripping forces of

both fingers.

Stroke


14




X16 (16m) ~ X20 (20m)

Robot Cable



* Please note that, whengripping (pushing), thespeed is fixed at 5mm/s.




RCP2-GR3SM ROBO Cylinder, 3-Finger Gripper, Slider Type,Actuator Width 80mm , Pulse Motor






MSEP


Deceleration RatioStroke Cable length OptionsTypeGR3SM

Encoder typeI

Motor type42P


Items14: 14mm

(7mm per side)



30 14

Cable Length

Item DescriptionDrive System Worm gear + worm wheel gearPositioning repeatability 0.01mmBacklash 0.3mm or less per side (constantly pressed out by a spLost motion 0.1mm or less per sideGuide Cross roller guideAllowable static load moment Ma: 6.3 N m, Mb: 6.3 N m, Mc: 5.7 N mWeight 1.2kgAmbient operating temperature, humidity0 to 40 C, 85% RH or less (Non-condensing)



24/46

RCP2 ROBO Cylinder

RCP2-GR3SM 394

0 -

0 . 0

5

8

0 -

0 . 0

5

7 7

+0.030 depth 32-3

+ 0

. 0 5

0

1 0

+0.050 depth 32-3

Home

(same for opposite side)Mounting surface

2 5

62

80

6 2

8 0

3-M3 depth 6

9

8

4- 5.5

4 ~

1 1

2 2

1 . 5

1 . 5

8

7


S T 7



4-M6 depth 12MountingsurfaceMountingsurface

1.553

12

7847

S e c u r e a t

l e a s t

1 0 0

(same for back side)118

125

2

4

4 8

A

3 4


1 2 0

1 2 0


6 2

Details of A

2 0.5Cable jointconnector *1

7 5

7 5

0 -

0 . 0

1 0

(

)

3 -

2

. 5 h 7


Weight (kg) 1.2

* When homing, the actuator swings 0.5mm past the home position before returning.Therefore, please watch for any interference with the surrounding objects.



Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541 P537


DC24V

Refer toP555 P547



P572 P563





Refer toP618






()Refer to

P628





Refer toP671

P665



AppendixP.15


2DCAD2D

CAD


25/46


26/46

RCS2 ROBO Cylinder

RCS2-GR8 396

(300)Cable jointconnector*1

Details of the T-slotfor mounting actuator

T-slot for mounting the actuator

2-M4

(Note 1)

6-M4 effective

depth (per side)

Secure at least 100

27

6 1

5 2

62

5 6

225

110054

8 7 5

4 5

1 4

. 5

B

B

A

15 2813.5

995

2 7

2

2 7

7 0

1 5

1 5

6

6

(C)DE

1 6

28.013.5

6 . 0

3 . 0

10.36.3

2

10.410



2DCAD2D

CAD

Append ixP.1 5


Inputpower

Power supplycapacity

Standardprice

Referencepage

Positionermode

SCON-CA-60I-NP-2-

Up to 512positioning points aresupported.

512 point s

Single-phase100VAC

Single-phase200VAC

3-phase200VAC

(XSEL-P/Q/R/SONLY)

218 VA max.

* Power supplycapacity will

vary dependingon thecontroller, soplease refer tothe instructionmanual fordetails.

P643

Solenoidvalve mode

Actuators can be operatedthrough the same control usedfor solenoid valves.

7 points

Field networktype

Movement by numericalspecification is supported. 768 points

Pulse-traininput controltype

Dedicated pulse-train inputtype ()

Positionermulti-axis,

network typeMSCON-C-1-60- -0-

Up to 6 axes can be operated.Movement by numericalspecification is supported.

256 points P655

Programcontrol type,1 to 2 axes

SSEL-CS-1-60I-NP-2- Program operation is supported.Up to 2 axes can be operated.20,000 points P685

Programcontrol type,1 to 8 axes

XSEL- -1-60I-N1-EEE-2- Program operation is supported.Up to 8 axes can be operated.Varies dependingon the number ofaxis connected

P695

RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.

Applicable Controllers

* This is for the single-axis MSCON, SSEL, and XSEL. * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V).* indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V / 3: Three-phase 200 V).* indicates field network specification symbol.

* The opening side of the slider is the home position.

Stroke 20 40 (60) (80) 100 (120) (200)A 22 42 62 82 102 122 202B 10 20 30 40 50 60 100C 106.4 126.4 146.4 166.4 186.4 206.4 286.4D 104 124 144 164 184 204 284E 100 120 140 160 180 200 280

Weight (kg) 1.8 1.9 1.9 2.0 2.0 2.1 2.3

Dimensions and Weight by Stroke

*1 The strokes enclosed in "( )" are semi-standard configurations, and will requirelonger delivery time.

(*1) Connect the motor and encoder cables here. See page A-59 for details on cables. (Note 1) The number of tapped holes on the finger mounting plate is for one side.In addition, by default, each finger is secured using 2 tapped holes


27/46


28/46

RCP2 ROBO Cylinder

RCP2-RTBS/RTBSL 398

4-M3 depth 5.5

(20)48 Secure at least 100

4

( 1 1 )

1 1

3 9

27


4-M3 depth 7

4-M3 depth 3.5

5.5

7.5

26

22

3 6

4 5

21.8

72

1 3

11.6 6 7

1 7

. 5

6 8

. 5 7 0

45

( 6 )

6

3 3

4

1 2

6 1

48

12.512.5

(25) (35.5)

4-M3 depth 5.5

0- 0.025( )36 h7

- 0.020- 0.007( )20 g6

0 depth+0.010( )3 H7 4

0+0.15( )7 H7 depth 7.5

+0.020 depth 2.53

+ 0

. 0 5

0

d e p t h

4

4

+0.020 depth 2.53

+0.040 depth 2.53

+0.040 depth 2.53


Weight (kg) 0.52


Inputpower


Standardprice

Referencepage


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547







Refer toP618

P607P

Documents

IAI 05 RC General CJ0203-2A P371-416 Gripper