RCP2-GRM ROBO Cylinder 2-Finger Gripper Medium Slider Type 74mm Width
Pulse Motor. * See page Pre-35 for explanation of each code that makes up the ...
Slider Type
RCP2
ROBO Cylinder
RCP2-GRM
Mini
ROBO Cylinder 2-Finger Gripper Medium Slider Type 74mm Width Pulse Motor
Standard ■ Configuration:
Controllers Integrated
RCP2
GRM
I
28P
1
Series
Type
Encoder
Motor
Deceleration Ratio
14
I: Incremental 28P: 28 □ size 1 : 1/1 * The Simple Pulse motor deceleration absolute encoder ratio is also considered type "I". * See page Pre-35 for explanation of each code that makes up the configuration name.
Rod Type Mini
Compatible Controllers
Stroke
14: 14mm (7mm per side)
Cable Length
Option
N : None SB : Shaft bracket P : 1m FB : Flage bracket S : 3m M : 5m X □□ : Custom R □□ : Robot cable
P1: PCON RPCON PSEL P3: PMEC PSEP
■ Gripping Force Adjustment
Standard
The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.
Controllers Integrated Table/Arm /Flat Type
* The gripping forces in the following diagrams indicate the sums of gripping forces of both fingers. 140
Mini
120 Gripping force (N)
Standard
Gripper/ Rotary Type
Technical References (1)
Splash-Proof
P
O
INT
(2)
Notes on Selection (3)
PMEC /AMEC
ROBO NET
60 40 0 0
Cleanroom Type
PSEP /ASEP
80
20
Linear Servo Type
Controllers
100
10
20
30 40 50 Current Limit (％ ratio)
60
70
P. A-5
The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work pieces. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-74 for details.) The rated acceleration while moving is 0.3G.
* Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
Actuator Specifications ■ Lead and Load Capacity
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration Ratio
Max. Gripping Force (N)
Stroke
1
80
14
Stroke
(mm)
14 (mm)
Deceleration Ratio
ERC2 PCON ACON
RCP2-GRM-I-28P-1-14- 1 - 2 - 3 Legend:
1 Compatible controllers
2 Cable length
1
36.7 (Unit: mm/s)
3 Options
SCON
Stroke List PSEL ASEL
2 Cable List
Stroke (mm) 14
Type
Standard Price
–
SSEL XSEL
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Cable Symbol
P (1m) Standard Type S (3m) M (5m) X06 (6m) Special Lengths X11 (11m) X16 (16m) R01 (1m) R04 (4m) Robot Cable R06 (6m) R11 (11m) R16 (16m)
Item Drive System Positioning Repeatability Backlash Lost Motion Guide Allowable Static Load Moment Weight Ambient Operating Temp./Humidity
Description Timing belt + trapezoidal screw (1.5 lead) ±0.01mm 0.15mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 8.3 N∙m 0.5kg 0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder Slider Type
Dimensions
P. A-9
For Special Order * *1
Mini Standard
The opening side of the slider is the home position. The motor-encoder cable is connected here. See page A-39 for details on cables.
Controllers Integrated Rod Type
Standard
35
36
Mini
Cable joint connector*1
Controllers Integrated
+0.03
2−M5 depth 8
4−M4 depth 8 (same with opposite side)
25
Mini 24
22
5
2.5
Gripper/ Rotary Type Linear Servo Type
74
24
MAX 15 MIN 1
4
36
25 7 11.5
ø3
+0.03 0 Depth
Standard
4−M4 depth 6
+0.03 0
1.5
Table/Arm /Flat Type
28 +0.05 3 0 Depth 2.5
0 12 −0.05
Secure at least 100
2−ø3 0 Depth 2.5 (same with opposite side)
5
Cleanroom Type
3
Note: The holes in the slider shown above, other than tapped holes, are used to install the
