ROBO Cylinder 3-Finger Gripper, Lever Type
ROBO Cylinder 3-Finger Gripper, Slide Type
RCP2-GR3LS/GR3LM
RCP2-GR3SS/GR3SM
Securely gripping circular and cylindrical load!
New electrical 3-Finger grippers
also allow for easy adjustment
of gripping force!
Lever Type
Slide Type
Example of Use
Features
Combine with a
SCARA robot
to transfer
cylindrical load.
Three fingers facilitate centering of load
The load can be centered easily as the three fingers grip the load simultaneously.
High gripping force from a compact body
The unique drive method using a worm gear produces a high gripping force from a compact body.
Two types for different applications
Choose the "lever type" that offers a wide open/close range while achieving high-speed
operation, or the "slide type" that generates a high gripping force while ensuring excellent rigidity.
Maintains the gripping force even after the power is off
The self-lock mechanism maintains the current position even after the power is
switched off, so the load will not fall in the event of sudden power failure.
Model
Actuator Model
RCP2
GR3LS
Series
RCP2
I
30
19
P1
Encoder type
Motor type
Gear ratio
Stroke
Applicable controller
I: Incremental
PM: Pulse motor
30: Gear ratio
1/30
GR3LS:19°
GR3LM:19°
GR3SS:10mm
GR3SM:14mm
P1:RCP2-C
RCP2-CG
Type code
GR3LS: Lever type (S size)
GR3LM: Lever type (M size)
GR3SS: Slide type (S size)
GR3SM: Slide type (M size)
PM
M
SB
Cable length
Options
N: No cable
SB: Shaft bracket
FB: Flange bracket
P:1m
S:3m
M:5m
X■■: Specified length
R■■: Robot cable
Options (Actuator brackets)
A bracket is used to install the gripper body. You can choose the shaft type or flange type according to the shape of the installation surface.
ø10 -0.05
0
2
12
0°
ø73
ø6
ø14
5
ø29
ø4
2
0°
12
ø10h8
0
2-M5
2
0°
12
0°
ø10 -0.05
12
2
3-ø5.5
ø6
(32)
30 ±0.05
(25)
12
0°
5
ø10H8 depth 25
For GR3LM/GR3SM
Unit model: RCP2-FB-GR3M
3-ø5.5
5
18
ø29
(32)
30
(15)
9
ø73
ø10H8 depth 25
18
ø55
0
ø10 -0.05
5
ø4
12
0°
ø10h8
ø14
0
2-M5
2
For GR3LM/GR3SM
15 ±0.05
Unit model: RCP2-SB-GR3M
3-ø4.5
0°
12
For GR3LS/GR3SS
Unit model: RCP2-FB-GR3S
0°
ø55
30 ±0.05
5 (25)
9
12
For GR3LS/GR3SS
Unit model: RCP2-SB-GR3S
2
Flange Bracket
3-ø4.5
5
ø10 -0.05
Shaft Bracket
(32)
(32)
30
(15)
15 ±0.05
RCP2-GR3LS/GR3LM
Type
Grip (Width: 62 mm/80 mm)
Model specification items
Stroke
Series Type
19°
3-Finger gripper, lever type
Actuator width: 62 mm/80 mm, pulse motor
Maximum gripping force
Encoder type Motor output Gear ratio
(Example) RCP2-GR3LS -
I
PM
-
30
-
Stroke
18N/51N
Applicable controller Cable Option
- 19 -
P1
- M - SB
Model / Specifications
Model
*
Size
RCP2-GR3LS-I-PM-30-19-P1- ➀ - ➁
S size
RCP2-GR3LM-I-PM-30-19-P1- ➀ - ➁
M size
Encoder type
Motor type Gear ratio
Incremental
Pulse motor
Open/close stroke Maximum open/close Maximum gripping
(one side)
force
speed (one side)
(°)
(Note 2) (N)
(Note 1) (°/sec)
18
-14°~5°
200
51
Stroke
(°)
30
19
➀ and ➁ in the model numbers shown above respectively indicate the cable length and applicable options.
Options
Common Specifications
Code
Page
Drive system
Shaft bracket
SB
Cover
Positioning repeatability (Note 3)
±0.01°
Flange bracket
FB
Cover
Backlash
1° max. per side (Pressure is constantly applied toward the open side via spring.)
Base
Material: Aluminum with white alumite treatment
Cable length (Note 4)
N: No cable, P: 1 m, S: 3 m, M: 5 m, X : Specified length, R : Robot cable
Name
Worm gear + Worm wheel gear
GR3LS:0.6kg/GR3LM:1.1kg
Weight
Operating temperature/humidity 0 to 40°C, 85%RH max. (non-condensing)
Dimensions
ø3
+0.05
0
2
8
28
62
31.5
16
1.5
6
14°
ø45
4
12
0
-0.05
ø59
5°
9 6
Installation surface
(Same on opposite side)
ø76
(Same on reverse side)
112
(129.5)
17.5
GR3LM (Lever type, M size)
+0.05
ø75
0
ø75
77 -0.05
0
10 -0.05
ø3 +0.05
0
2-M4
* During home return the actuator will return home
along a path running 1° outside of the shortest line
home, so be careful to prevent contact with
surrounding parts.
9
4-ø5.5
80
A
2-3+0.05
depth 3
0
M8 (Effective depth 4)
2
4 10
0.5
Detail view of A (2 : 1)
36
Installation surface
HOME
62
10 0
62
48
(19)
3-M4 (Effective depth 6)
2-ø3 +0.03
depth 3
0
Blank plug (setscrew M4 x 5)
(Same on reverse side)
4-M5 depth 8
Installation surface
(Same on reverse side)
0°
12
ø18
84
10
24
HOME
48
50.5
0.5
Detail view of A (2 : 1)
12
0°
3.5
M8 (Effective depth 4) Installation surface
4-ø4.5
10 0
ø57
7.5
36
0
8 -0.05
ø 57
* During home return the actuator will return home
along a path running 1° outside of the shortest line
home, so be careful to prevent contact with
surrounding parts.
+0.05
2-M3
GR3LS (Lever type, S size)
40.5
20
64
78
12
(23.5)
1.5
3-M5 (Effective depth 7)
2-ø3 +0.03
depth 3
0
(Same on reverse side)
4-M6 depth 12
Blank plug (setscrew M5 x 6)
Installation surface
4
Installation surface
(Same on opposite side)
8
ø9
RCP2-C-GR3LS/GR3LM
RCP2-CG-GR3LS/GR3LM
2-3
1
RCP2-GR3LS/GR3LM
Page
Incremental Positioner
Back cover
24VDC
+0.05
0
depth3
A
114 (Same on reverse side)
(136)
22
Maximum
number of Compatible Program Power-supply
voltage
controlled axis encoder type operation
1 axis
12
34
48
7
18
14°
5°
14.5 7
ø29
80
62
ø62
Applicable Controller Specification
Applicable controller
0°
12
0°
(Same on reverse side)
(Note 1) The speed when one side (finger) of the grippers is operated. The relative
operating speed is twice this value.
(Note 2) The sum of gripping forces of all fingers when the gripping-point distance is 10
and overhang distance is 0. The actual allowable gripping force will vary
depending on the applicable conditions. Refer to the back cover for details.
Caution (Note 3) Positioning repeatability of positioning operations from the negative direction.
(Note 4) The maximum cable length is 20 m. Specify the desired length in meters (e.g.,
X08 = 8 m).
RCP2-GR3SS/GR3SM
Type
Grip (Width: 62 mm/80 mm)
Model specification items
Maximum gripping force
Stroke 5mm/7mm
Series Type
3-Fnger gripper, Slide type
Actuator width: 62 mm/80 mm, pulse motor
Stroke
Encoder type Motor output Gear ratio
(Example) RCP2- GR3SS -
I
PM
-
30
-
22N/102N
Applicable controller Cable Option
- 10 -
P1
- M - SB
Model / Specifications
Model
Size
RCP2-GR3SS-I-PM-30-10-P1-➀ -➁
S size
RCP2-GR3SM-I-PM-30-14-P1-➀ -➁
M size
Encoder type
Motor type Gear ratio
Incremental
Pulse motor
* ➀ and ➁ in the model numbers shown above respectively indicate the cable length and applicable options.
Options
Name
Code
Page
Shaft bracket
SB
Cover
Flange bracket
FB
Cover
Open/close stroke Maximum open/close Maximum gripping
(one side)
force
speed (one side)
(mm)
(Note 2) (N)
(Note 1) (mm/sec)
22
5
40
102
7
50
Stroke
(mm)
10
14
30
Common Specifications
Drive system
Worm gear + Worm wheel gear
Positioning repeatability (Note 3)
±0.01mm
Backlash
0.3 mm or less each side (The grippers are always kept open by a spring.)
Guide
Cross roller guide
Allowable load moment
<GRSS> Ma:3.8N • m / Mb:3.8N • m / Mc:3.0N • m
<GRSM> Ma:6.3N • m / Mb:6.3N • m / Mc:5.7N • m
Base
Material: Aluminum with white alumite treatment
Cable length (Note 4)
N: No cable, P: 1 m, S: 3 m, M: 5 m, X : Specified length, R : Robot cable
GR3SS:0.6kg / GR3SM:1.2kg
Weight
Operating temperature/humidity 0 to 40°C, 85%RH max. (non-condensing)
* During home return the actuator will return home
along a path running 0.5 mm outside of the
shortest line home, so be careful to prevent
contact with surrounding parts.
40
45
Installation1.5
2
surface
10
2-ø3
(Same on
reverse side)
24
10 0
Installation surface
0
ø59 -0.05
ø45
4
ST5
5
15
18
3.5
1.5
4-9
62
48
18
4-9
ST5
5
15
3.5
1.5
3-M4 (Effective depth 6)
Blank plug (setscrew M4 x 5)
4-M5, depth 8
Installation surface
(Same on opposite side)
A
2-3 +0.05
depth 3
0
(Same on reverse side)
104
110
ø7 6
Detail view of B (1.5 : 1)
depth 3
0°
12
HOME
+0.03
0
(Same on
reverse side)
12
0°
48
0.5
70
0
M8 (Effective depth 6)
ø9 counterbore, depth 1.5
M8 (Effective depth 6)
1.5
62
36
3-ø2.5h7 (-0.010 )
4-ø4.5
ø9 counterbore, depth 1.5
1.5
48
2
Detail view of A (2 : 1)
4
B
3-M3 depth 5
3-M3 depth 5
62
ø57
ø57
GR3SS (Slide type, S size)
+0.05
0
6 -0.05
Dimensions
ø75
ø75
10 0
0
8 -0.05
+0.05
GR3SM (Slide type, M size)
* During home return the actuator will return home
along a path running 0.5 mm outside of the
shortest line home, so be careful to prevent
contact with surrounding parts.
2
+0.03
0
depth 3
(Same on
reverse side)
Installation1.5
surface
4-M6, dept12
(Same on
reverse side)
3-M5(Effective depth 7)
Blank plug (setscrew M4 x 5)
Installation surface
0°
2-ø3
12
34
ø6 2
4
0
77 -0.05
22
25
78
12
HOME
1.5
4 - 11
ST7
62
80
2
53
0°
12
7 8
1.5
62
47
48
ø9 counterbore, depth 1.5
M8 (Effective depth 6)
80
0
3-ø2.5h7 ( -0.010
)
4-ø5.5
0.5
Detail view of A (2 : 1)
3-M4 depth 5
8
ø9
2-3 +0.05
depth 3
0
Installation surface
(Same on opposite side)
Applicable Controller Specification
Applicable controller
RCP2-C-GR3SS/GR3SM
RCP2-CG-GR3SS/GR3SM
Maximum
number of Compatible Program Power-supply
voltage
controlled axis encoder type operation
Page
Incremental Positioner
Back cover
1 axis
24VDC
A
(Same on reverse side)
118
125
(Note 1) The speed when one side (finger) of the grippers is operated. The relative
operating speed is twice this value.
(Note 2) The sum of gripping forces of all fingers when the gripping-point distance is 0
and overhang distance is 0. The actual allowable gripping force will vary
depending on the applicable conditions. Refer to the back cover for details.
Caution (Note 3) Positioning repeatability of positioning operations from the negative direction.
(Note 4) The maximum cable length is 20 m. Specify the desired length in meters (e.g.,
X08 = 8 m).
RCP2-GR3SS/GR3SM
2
Catalog No.: RCP2GR3LS-CJ0083-1A-Aug1805-1
Controller
Model / Specifications
Controller Model
RCP2
Series
RCP2
C
GR3LS
Type
C: Built-in
drive-power
cutoff relay type
CG:External
drive-power
cutoff relay type
I
PM
Actuator type
O
P
Power-supply voltage
I/O signal pattern
Actuator’s
(type code) – (encoder type) – (motor type)
(Blank) :NPN
P
:PNP
0:24VDC
* This field can be left
blank unless the PNP
specification is
required.
External Dimensions
Specification Table
PIO
LED indicators
I/F power supply
Communication
Withstand voltage
Operating temperature
Operating humidity
Operating ambience
Weight
Accessory
Controller
Specification
RCP2-C/CG
RCP2 Series
24 VDC ± 10%
2 A max.
1 axis
Field-weakening vector control (patent pending)
Position number specification
Standard 16 points, maximum 64 points
Storage of position number data and parameters in non-volatile
memory. Serial E2PROM rewritable up to 100,000 times.
RCP2-C (CG): 10 dedicated inputs (10 points)
/ 11 dedicated outputs (10 points); selectable from 5 patterns
RDY (green), RUN (green), ALM (red)
External power supply: 24 V ± 10%, 0.3 A; insulated
RS485, 1 channel (terminated externally)
500 VDC, 10 MΩ
Unit: mm
35.0
68.1
ø5
178.5
170.5
Item
Controller series/type
Connected actuator
Input power supply
Power-supply capacity
Number of controlled axis
Control method
Positioning command
Position numbers
Backup memory
5.0
Options/Spare Parts
Item
0 to 40°C
85%RH max. (non-condensing)
Free from corrosive gases
300g
PIO flat cable (2 m)
Model
Teaching pendant
RCA-T
Teaching pendant (deadman specification) RCA-TD
Simple teaching pendant
RCA-E
Data setting unit
RCA-P
PC software
RCB-101-MW
Motor cable
CB-RCP2-MA
Encoder cable
CB-RCP2-PA
Encoder robot cable
CB-RCP2-PA
-RB
* The standard motor cable is a robot cable.
Correlation Diagrams of Gripping Force and Current-limiting Value
Lever type (GR3LS/GR3LM)
Slide type (GR3SS/GR3SM)
Calculate the actual gripping force using the formula below:
Effective gripping force (S type) = P x 24 / (L + 14)
Effective gripping force (M type) = P x 28.5 / (L + 18.5)
F
F
* The distance (L) from the finger
installation surface to the gripping point
must not exceed the following
dimensions:
GR3SS 50 mm or less
GR3SM 80 mm or less
L
L
* The graphs below show gripping forces measured at a 10mm point. The actual gripping force will decrease in
inverse proportion to the distance from the open/close
fulcrum.
P = Gripping force in the graph
L = Distance from the finger installation surface to the
gripping point
RCP2-GR3LS
RCP2-GR3LM
10
20
30
40
50
60
Current-limiting value (%)
70
50
40
30
20
10
20
120
Gripping force P (N)
15
RCP2-GR3SM
25
Gripping force P (N)
20
5
RCP2-GR3SS
60
Gripping force P (N)
Gripping force P (N)
25
20
15
10
30
40
50
60
70
Current-limiting value (%)
5
20
30
40
50
60
Current-limiting value (%)
I A I Industrieroboter GmbH
Head Office 2690 W 237th Street, Torrance, CA 90505
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
Chicago Office: 1261 Hamilton Parkway ltasca, IL 60143
New Jersey Office: 7 South Main Street, Suite-F, Marlboro, NJ 07746
I A I America, Inc.
Website: www.intelligentactuator.com
The information contained in this catalog is subject to change without notice for the purpose of product improvement.
70
100
80
60
40
20
20
30
40
50
60
Current-limiting value (%)
70