Page 132 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Slider TypeRCP2-GR3SM RoboCylinder 3-Finger Gripper Slider Type 80mm Width Pulse Motor■ Configuration:RCP2 GR3SMIEncoderI: Incremental * The Simpleabsolute encoder is also considered type "I".42PMotor42P : 42 size Pulse motor30Deceleration Ratio30: 1/30 decelerationratio14Stroke14: 14mm (7mm per side)SeriesTypeCompatible ControllersP1: PCON RPCONPSEL P3: PMEC PSEPCable LengthN : NoneP : 1mS : 3mM : 5mX□□ : CustomR □□ : Robot cableOptionFB:Flange bracket SB:Shaft bracket* See page Pre-35 for an explanation of the naming convention.Rod TypeTable/Arm /Flat TypeFGripper/ Rotary TypeLinear Motor TypeCleanroom TypeTechnical ReferencesNotes on Selection(1) The maximum opening/closin g 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-74.(3) The rated acceleration while moving is 0.3G.Splash-ProofControllersActuator Specifications■ Lead and Load Capacity ■ Stroke and Maxi. Opening/Closing SpeedModelDeceleration RatioMax. Gripping Force (N)Stroke (mm)RCP2-GR3SM-I-42P-30-14- - - 3010214(7 per side)Stroke Deceleration Ratio14 (mm)3050 (per side)Legend: Compatible controllers Cable length Options(Unit: mm/s)ItemDescriptionDrive SystemWorm gear + worm wheel gearPositioning Repeatability±0.01mmBacklash0.3mm or less per side (constantly pressed out by a spring)Lost Motion0.1mm or less per sideGuideAllowable Static Load MomentCross roller guideWeight1.2kgAmbient Operating Temp./Humidity0~40°C, 85% RH or less (non-condensing)TypeCable SymbolStandard TypeP (1m)S (3m)M (5m)Special LengthsX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)Robot CableR01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)Pulse MotorServo Motor (24V)Servo Motor (230V)Linear MotorNameOption CodeSee PageFlange bracketFB→ A-26Shaft bracketSB→ A-36RCP2 RoboCylinder MiniStandardControllers IntegratedMiniStandardControllers IntegratedMini Standard■ Gripping Force vs. Current Limit Slider Type (GR3SS/GR3SM)* Please keep the distance L from the finger mounting surface to the gripping point at less than the following dimensions.GR3SS→50mm or less GR3SM→80mm or less130 120 100 80 60 40 20* Please note that, when gripping (pushing), the speed is fixed at 5mm/s.P. A-5PMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSEL00 10 20 30 40 50 60 70 Current Limit (% ratio)Cable List* See page A-39 for cables for maintenance.Option ListActuator Specifications349 RCP2-GR3SMGripping force (N)LIONTP