Page 134 - RoboCilindri, rcp2/rcp3, robocilindri, sinta,

Type MiniStandardControllers IntegratedRod TypeMiniStandardControllers IntegratedTable/Arm /Flat TypeMini StandardGripper/ Rotary TypeLinear Motor TypeCleanroom TypeSplash-ProofControllersPMEC /AMECPSEP /ASEPROBO NETERC2 PCON ACON SCON PSEL ASEL SSEL XSELPulse MotorServo Motor (24V)Servo Motor (230V)Linear MotorRCP2-RTBS/RTBSLRoboCylinderRotarySmall Vertical Type45mm WidthPulse MotorRCP2 RoboCylinder Slider■ Configuration:RCP2SeriesIEncoder I: Incremental20PMotor20P : 20 size Pulse motor* See page Pre-35 for an explanation of the namingTypeDeceleration RatioOscillation Angle 330: 330degrees(RTBS only) 360: 360degreesCompatible ControllersP1: PCON RPCONPSEL P3: PMEC PSEPCable LengthN : NoneP : 1mS : 3mM : 5mX□□ : CustomR □□ : Robot cableOptionNM :Reversed-rotation SA:Shaft adapterTA : Table adapterRTBS: 330-degree rotation *RTBSL: Multiple rotationThe Simple absolute encoder is also considered type "I". convention.30: 45:1/30 deceleration ratio1/45 deceleration ratio(RTBSL only)■ Speed vs. Load CapacityDue to the characteristics of the Pulse Motor, the RCP2 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.0.50 0.450.40 0.36 0.350.30 0.24 0.250.20 0.15 0.10 0.05 0.00Deceleration ratio 1/45 Deceleration ratio 1/30Allowable moment of inertia (×10-3 kg m2)IONTPNotes on Selection(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range.(3) The rated acceleration while moving is 0.2G.(4) When using index mode with multiple rotation type, PMEC/PSEP controller is not available to operate.00Oscillation Angle (deg)330360(1) The output torque decreases as the rotational speed increases.Check the output torque graph on the right to see whether the speed required for your desired motion is supported.2 1.5 1 0.5Actuator Specifications■ Lead and Load Capacity ModelRCP2-RTBS-I-20P-30-330- 1 - 2 - 3 RCP2-RTBS-I-20P-45-330- 1 - 2 - 3 RCP2-RTBSL-I-20P-30-360- 1 - 2 - 3 RCP2-RTBSL-I-20P-45-360- 1 - 2 - 3■ Deceleration Ratio and Max. SpeedLegend: 1 Compatible controller Cable List2 Cable length3 OptionsTypeStandard Type (Robot Cables)Cable SymbolP (1m)S (3m)M (5m)X06 (6m)X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)Item Drive SystemPositioning Repeatability Homing AccuracyLost MotionAllowable Thrust Load Allowable Load Moment WeightAmbient Operating Temp./HumidityDescription~ X10 (10m)* The standard cable is the motor-encoder integrated robot cable.Hypoid gear ±0.05 degrees ±0.05 degrees ±0.1 degrees 30NSpecial Lengths* See page A-39 for cables for maintenance.0.52kg0 ~ 40°C, 85% RH or less (non-condensing)Option ListName Reversed-rotationShaft adapter Table adapterOption Code NMSATASee Page → A-33 → A-35 → A-37353 RCP2-RTBS/RTBSLDeceleration Ratio1/30 1/45 1/30 1/45Max. Torque0.24 0.36 0.24 0.36Allowable Moment ofStroke Deceleration Ratio1/30 1/45330/360 (deg)400266(Unit: degrees/s)Technical ReferencesP. A-50 50 100 150 200 250 300 350 400 450 Rotational speed (deg/sec)5 4.54 Deceleration ratio 1/45 3.5Inertia 0.00230.0035 0.0023 0.00352)Actuator Specifications32.5 2.3Deceleration ratio 1/3050 100150 200 250Rotational speed (deg/sec)300 350 400 450