Slider
Type
RCP2
ROBO Cylinder
RCP2-GRLS
Mini
ROBO Cylinder 2-Finger Gripper Mini Lever Type 42mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
GRLS
Series
I
Type
20P
Encoder
Motor
30
180
Compatible Controllers
Stroke
Deceleration Ratio
180: 180
20P : 20 † size
30: 1/30
I: Incremental
* The Simple
deceleration
degrees
Pulse motor
absolute encoder
ratio
(90 degrees per
is also considered
side)
type "I".
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Cable Length
N : None
P : 1m
S : 3m
M : 5m
X□□ : Custom
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Option
NM: Reversed-home
FB : Flange bracket
SB : Shaft bracket
■ 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.
7
Mini
6
Gripping force (N)
Standard
Gripper/
Rotary Type
Linear Servo
Type
4
3
2
1
0
Cleanroom
Type
Technical
References
Splash-Proof
P
O
Controllers
5
INT
10
20
30
40
50
Current Limit (% ratio)
60
70
P. A-5
(1)
The maximum opening/closing 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 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 piece. As a rough guide, a work piece's weight should
not exceed 1/10 to 1/20 of the gripping force.
(3)
The rated acceleration while moving is 0.3G.
Notes on
Selection
0
* Please note that, when gripping (pushing),
the speed is fixed at 5 degrees/s.
(See page A-77 for details.)
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
Actuator Specifications
■ Lead and Load Capacity
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration Ratio
Max. Gripping
Force (N)
Stroke
30
6.4
180
(90 per side)
Deceleration
Ratio
(deg)
Stroke
180
(deg)
ERC2
PCON
ACON
RCP2-GRLS-I-20P-30-180- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
30
600
(Unit: degrees/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(deg)
180
Type
Standard Price
–
Cable Symbol
P (1m)
Standard Type
S (3m)
(Robot Cables)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
SSEL
XSEL
∼ X10 (10m)
∼ X15 (15m)
∼ X20 (20m)
Standard Price
–
–
–
–
–
–
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Actuator Specifications
3 Option List
Name
Reversed-home
Flange bracket
Shaft bracket
Option Code
NM
FB
SB
Linear
Servo Motor
335
RCP2-GRLS
See Page
Standard Price
→ A-33
→ A-26
→ A-36
–
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + helical gear
±0.01mm
1 degree or less per side (constantly pressed out by a spring)
1 degree or less
−
−
0.2kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
*
*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
+0. 03
2-ø3 0
depth 3
Rod
Type
(same for opposite side)
17
24
Mini
Standard
4
8-M3 depth 5
17
+0. 05
2-3 0
45
Cable joint
connector*1
(same for opposite side)
Controllers
Integrated
depth 3
+0. 03
depth 2. 5
2-ø4 0
+0. 03
2-ø3 0
depth 3
Secure at least 100
(same for opposite side)
(same for opposite side)
4-M4 through
Table/Arm
/Flat Type
Mini
9
Standard
+0. 03 depth 3
ø3 0
34
35
Linear Servo
Type
17
8.5
Cleanroom
Type
4
18
9
42
MAX 180ﾟ
MIN 0ﾟ
Gripper/
Rotary Type
4
9
18
15.5
4-M3 depth 5
8-M3 depth 5
+0. 05 depth 3
2-3 0
36
(same for opposite side)
49 (same for opposite side)
+0. 05
3 0
Splash-Proof
depth 3
73
Controllers
66.5
PMEC
/AMEC
PSEP
/ASEP
55
ROBO
NET
ERC2
Weight (kg)
0.2
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
PMEC-C-20PI-NP-2-1
Description
Max. Positioning Points
Easy-to-use controller, even for beginners
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-20PI-NP-2-0
Positioner Type
PCON-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEL
3 points
–
→ P487
SSEL
–
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-20PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-20PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-20PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-20P
PSEL-C-1-20PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GRLS
336
Servo Motor
(200V)
Linear
Servo Motor