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RCD-GRSN RCP2-GRSSRCP4-GRSML/GRSLL/GRSWLRCP2-GRLSRCP4-GRLM/GRLL/GRLW

Vertical Gripper, Slider Type

Vertical Gripper, Lever Type

Achieving High-speed Opening/Closing aVertical Grippers – The Newest Additions to IAI’s Mo

RCP2-GRSS RCP4-GRSWLRCD-GRSNA RCP4-GRSLLRCP4-GRSML

Slider Type

NEW NEW NEWNEW

24

71

42

34

87.5

62

42

110

88

50

124.5

107

Slider Type and Lever TypeVertical grippers are available in two types, including the slider type that comes with a guide to achieve excellent rigidity, and the lever type whose levers open by 180 degrees for easy gripping of the work part.

1Graph of Gripping Forces of Slider Types

RCD-GRSNA

RCP2-GRSS

RCP4-GRSML

RCP4-GRSLL

RCP4-GRSWL

0 50 100 150 200 250（N）

Slider Type Lever Type

15

84

22

1

and High Gripping Forceotorized Gripper Series

Lever Type

RCP2-GRLS RCP4-GRLWRCP4-GRLLRCP4-GRLMNEW NEW NEW

24

73

42

34

92

54

42

113

70

50

129.5

80

Supporting Multi-point Positioning, Adjustable Gripping Force Up to 512 positioning points are supported via servo control, and the force with which to grip the work part is adjustable. This makes it possible to adjust the finger opening/closing width and grip easy-to-deform work parts.

Self-locking Mechanism to Prevent the Work Part from Dropping upon Power Off

The self-locking mechanism prevents the work part from dropping when the power is turned off or an emergency stop is actuated. The slider and levers can be opened with ease using an Allen wrench. * The actuator cannot be kept pushing the work part.

2

Highly Rigid, Accurate Guide and Driving Part The slider type comes with a highly rigid linear guide to demonstrate high moment rigidity. Thanks to its backlash eliminating mechanism, the guide is subject to less displacement upon positioning. The driving part adopts a geared structure (worm + helical gears) to achieve high rigidity and excellent response.

3

4

Ultra-compact Slider Type5

a compact body (gripping force: 10 N)

industry with a cross-section area of 22 x 15 mm

RCD-GRSNANEW

Achieving High-speed Opening/Closing aVertical Grippers – The Newest Additions to IAI’s Mo

RCP2-GRSS RCP4-GRSWLRCD-GRSNA RCP4-GRSLLRCP4-GRSML

Slider Type

NEW NEW NEWNEW

24

71

42

34

87.5

62

42

110

88

50

124.5

107

Slider Type and Lever TypeVertical grippers are available in two types, including the slider type that comes with a guide to achieve excellent rigidity, and the lever type whose levers open by 180 degrees for easy gripping of the work part.

1Graph of Gripping Forces of Slider Types

RCD-GRSNA

RCP2-GRSS

RCP4-GRSML

RCP4-GRSLL

RCP4-GRSWL

0 50 100 150 200 250（N）

Slider Type Lever Type

15

84

22

2

Gripper Lineup

RCP2-GRSS

RCP4-GRSML

RCP4-GRSLL

RCP4-GRSWL

RCP2-GRLS

RCP4-GRLM

RCP4-GRLL

RCP4-GRLW

RCP2-GRS

RCP2-GRM

RCP2-GRST

RCP2-GRHM

RCP2-GRHB

RCP2-GR3SS

RCP2-GR3SM

RCP2-GR3LS

RCP2-GR3LM

RCP2RCP4

(Pulse Motor)

2-Finger VerticalType

2-Finger

2-Finger（Servo Motor）

RCS2

3-Finger

VerticalType

HorizontalType

RCS2-GR8

RCD-GRSNA

P.21

P.23

P.15

P.7

P.9

P.11

P.13

P.17

P.19

Lever Type

NEW

NEW

NEW

NEW

NEW

NEW

NEW

Refe

r to

the

Gene

ral R

oboC

ylin

der C

atal

og

（BLDC Motor）RCD

Lever Type

Slider Type

Slider Type

Slider Type

Slider Type

3

Slider Type

Type

Model

External View

Motor

Position Detection

Drive System

Guide

Opening/Closing Stroke (mm)

Gripping Force (N)

Opening/Closing Speed (mm/sec)

Positioning Repeatability (mm)

Gripping Force Adjustment Range

Actuator Cable (*1)

Extension Cable (*2)

Exterior Dimensions of ActuatorFrame (L x W x H)

Actuator Mass (kg)

See Page

DC brushless motor

Optical encoder

Lead screw + grooved cam

4

10

67

±0.05

40～70％

Standard cable (Model: CB-CAN-MPA□□□)

Robot cable (Model: CB-CAN-MPA-□□□RB)

22×15×84

0.085

□20×t30

8

14

～78

42×24×71

0.2

□28×t34.5

14

87

～94

62×34×87.5

0.5

□35×t37

22

140

～125

Robot cable

Standard cable (Model: CB-CAN-MPA□□□)Robot cable (Model: CB-CAN-MPA□□□-RB)

88×42×110

1.0

□42×t47.5

30

220

157

107×50×124.5

1.6

±0.01

20～70％

Mini Slider Type

RCD-GRSNA

Small Slider Type

RCP2-GRSS

Medium Slider Type

RCP4-GRSML

Large Slider Type

RCP4-GRSLL

Extra Large Slider Type

RCP4-GRSWL

Pulse motor

Magnetic encoder (incremental)

Worm + double-helical + helical rack gears

Type

Model

External View

Motor

Position Detection

Drive System

Guide

Range of Operation (deg)

Gripping Force (N)

Opening/Closing Speed (deg/sec)

Positioning Repeatability (deg)

Gripping Force Adjustment Range

Actuator Cable (*1)

Extension Cable (*2)

Exterior Dimensions of ActuatorFrame (L x W x H)

Actuator Mass (kg)

See Page

□28×t34.5

35

～600

54×34×92

0.5

□35×t37

60

～600

Robot cable

70×42×113

1

□42×t47.5

90

～643

80×50×129.5

1.4

□20×t30

6.4

～600

Standard cable

42×24×73

0.2

Small Lever Type

RCP2-GRLS

Medium Lever Type

RCP4-GRLM

Large Lever Type

RCP4-GRLL

Extra Large Lever Type

RCP4-GRLW

Pulse motor

Magnetic encoder (incremental)

Worm + double-helical gears

ー

180

±0.05

20～70％

P.15P.13P.11P.9P.7

P.21 P.23P.17 P.19

Lever Type

Linear guide

Robot cable(Model:

CB-APSEP-MPA-□□□)

Robot cable(Model:

CB-APSEP-MPA-□□□)

Standard cable (Model: CB-CAN-MPA□□□)Robot cable (Model: CB-CAN-MPA□□□-RB)

(*1) This is the cable of approx. 0.2 m in length coming out from the gripper. (*2) This cable is used to connect the controller to the connector at the end of the actuator cable.

(*1) This is the cable of approx. 0.2 m in length coming out from the gripper. (*2) This cable is used to connect the controller to the connector at the end of the actuator cable.

Standard cable

4

System Configuration

● Configuration of DSEP System

● Configuration of PCON-CA System

● Configuration of MSEP System

Standard 0.5 m

Field NetworkDeviceNet, CC-Link, Profibus-DP, Profinet-IO, CompoNet, Mechatrolink (*), EtherCAT, EtherNet/IP

PLC

PC SoftwareRS232 connection versionModel RCM-101-MW-ENGUSB connection versionModel RCM-101-USB-ENG

5m

Options

Teaching PendantModel TB-01 (*)

Options

PIO CableModel CB-PAC-PI0020Standard: 2 m

Supplied with PIO specification controller.

Motor Encoder Cable Model CB-CAN-MPA□□□Motor Encoder Robot Cable Model CB-CAN-MPA□□□-RB

Supplied with Actuator

Motor Encoder Robot Cable Model CB-APSEP-MPA□□□Supplied with actuator

Simple Absolute Battery UnitModel SEP-ABU (DIN rail mount)Model SEP-ABUS (Fixed screw type)Supplied with simple absolute type Simple

Absolute BatteryModel AB-7

Controller (See P 29.)Model PCON-CA RCP4-GRS□L/

　　 GRL□

RCP2-GRSS/　　　 GRLS

PLC

PC SoftwareRS232 connection versionModel RCM-101-MW-ENGUSB connection versionModel RCM-101-USB-ENG

5m

Options


Options

PIO CableModel CB-APSEP-PI0020Standard: 2 mSupplied with PIO specification controller.

Motor Encoder Cable Model CB-CAN-MPA□□□Motor Encoder Robot Cable Model CB-CAN-MPA□□□-RBSupplied with Actuator

Controller (See P30.)Model DSEP

RCD-GRSNA

Field NetworkDeviceNet, CC-Link, PROFIBUS-DP, PROFINE

(Note) For the DCON-CA configulation, please refer to the ACON-CA/DCON-CA catalog (CJ0211-1A).

T-IOCompoNet, EtherCAT, EtherNet/IP

PLCPC SoftwareRS232 connection versionModel RCM-101-MW-ENGUSB connection versionModel RCM-101-USB-ENG

Simple Absolute BatteryModel MSEP-ABB

Replacement Battery Model AB-7

5m

0.5m

* MSEP controllers are supported by PC Software Ver. 9.01.00.00 or later.

* You can select either the PIO specification or field network specification for your controller.

* If the simple absolute type is specified as part of its model number, the controller will come with the absolute battery box.

* To connect to a field network, you must set up the controllerto communicate with the network using the gateway parameter setting tool that comes with the PC software. Please purchase the PC software if not yet installed.

Options


Options

PIO Flat CableModel CB-MSEP-PI0020Standard: 2 mSupplied with PIO specification controller.

Options

Cable is supplied with PC software.

Cable is supplied with simple absolute battery box.

Controller (See P29.)Model MSEP

Motor Encoder CableModel CB-CAN-MPA□□□Motor Encoder Robot CableModel CB-CAN-MPA□□□-RB

Supplied with Actuator

Motor Encoder Robot Cable Model CB-APSEP-MPA□□□Supplied with actuator

RCP4-GRS□L/　　 GRL□

RCP2-GRSS/　　　 GRLS

DC24VPower Supply

24V ◎ 0V ◎FG ◎

DC24VPower Supply

24V ◎ 0V ◎FG ◎

DC24VPower Supply

24V ◎ 0V ◎FG ◎

(*) CE coming soon.

(*) CE coming soon.

(*) CE coming soon.

(*) Mechatrolink w/o CE conformity yet.

5

＜RCP4 Series＞

<RCD Series>

Model Number

OptionCable Length StrokeMotorEncoderTypeSeriesI

Deceleration RatioRCP4

Compatible Controllers

I Incremental 3028

1/30

1/28

NPSM

X□□R□□

None

1 m

3 m

5 m

Custom

Robot cable

AC1NM

Actuator cable 1 m

Non-motor end specification

PCON-CAP3

MSEP-C

14

22

30

180

14 mm(7mm per side)22 mm(11 mm per side)

30 mm(15 mm per side)

180 degrees(90 degrees per side)

P3

28P35P42P

28 □ size motor

35 □ size motor

42 □ size motor

GRSMLGRSLLGRSWL

Medium

Large

Extra large

Slider Type

GRLMGRLLGRLW

Medium

Large

Extra large

Lever Type

<RCP2 Series>

OptionCable Length StrokeMotorEncoderTypeSeriesI

Deceleration RatioRCP2


I Incremental 30 1/30

NPSM

X□□

None

1m

3m

5m

Custom

NMFLSB

Non-motor end specification

Flange bracket

Shaft bracketPCON-PL/PO/SE

P1 PSEL-CS

RPCON

8

180

8 mm(4mm per side）

180 degrees（90 degrees per side）

20P 30

20P20□ sizePulse motorGRSS Small

Slider Type

GRLS SmallLever Type

Cable LengthStrokeMotorEncoderType Lead Screw LeadseireSRCD


I Incremental

2.5 W3

4 4mm（2mm per side）

2 2 mm DSEP-C

NPSM

X□□R□□

None

1 m

3 m

5 m

Custom

Robot cable

D33 2 4

GRSNA Mini Slider Type

I

DCON-CAD3

PCON-CAP3 PMEC/PSEP-C

MSEP-C

6

RCD-GRSNA RoboCylinder 2-Finger Gripper Vertical Mini Slider Type 22 mm Width BLDC Motor

3: 2.5 WBLDC motor

I: Incremental D3: DSEPDCON-CA

■ Model Description RCD 　GRSNA I 　 3 　 2 　 4 　　　

　　　　　　 Series 　 Type 　 Encoder 　 Motor Lead 　 Stroke 　 Compatible Controllers　 Cable Length　N : NoneP : 1 mS : 3 mM : 5 mX□□ : CustomR□□ : Robot cable

2 : 2 mm

P

O I N T

Notes on Selection

Cable ListType Cable Symbol

Standard TypeP（1m）S（3m）M（5m）

Special LengthX06（6m）～ X10（10m）X11（11m）～ X15（15m）X16（16m）～ X20（20m）

Robot Cable

R01（1m）～ R03（3m）R04（4m）～ R05（5m）R06（6m）～ R10（10m）R11（11m）～ R15（15m）R16（16m）～ R20（20m）

Actuator SpecificationsItem Description

Drive System Lead screw + grooved cam Positioning Repeatability ±0.05 mmBacklash per finger 0.4 mm or lessLost Motion 0.25 mm or less per sideGuide Linear guideStatic Allowable Moment Ma: 0.04N•m Mb: 0.04N•m Mc: 0.07N•mWeight 0.085 kgAmbient Operating Temp./Humidity 0 to 40°C, 85% RH or less (non-condensing)

■ Gripping Force vs. Electric Current LimitThe gripping (pushing) force can be adjusted freely within the range of electric current limits of 40% to 70%.

* Please note that, when gripping (pushing), the speed is fixed at 5 mm/s.

* The gripping force graph above shows thenumber of references.

L2

L1

12

10

8

6

4

2

Grip

ping

forc

e (N

)

minmax

Push electric current limit (%)

020 30 40 50 60 70

Legend: ① Cable length

Actuator Specifications■ Lead and Payload■ Stroke and Max. Opening/Closing Speed

Stroke (mm） Max. Speed (mm/s）

7 64

Model Number DecelerationRatio

Max. GrippingForce (N)

Stroke(mm)

RCD-GRSNA-I-3-2-4-D3-① 3.710

(5 per side)4

(2 per side)

4 : 4 mm(2 mm per side)

(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 part weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work part, as well as on the shape of the work part. As a rough guide, a work part's weight should not exceed 1/10 to 1/20 of the gripping force. (See page 25 for details.)

(3) The maximum acceleration while moving is 1 G.

* Operate with the L1 distance under 20 mm.* The gripping force in the graph below assumes that L1 and L2

inthe figure above are zero. (Refer to p. 26 for the rough guide ongripping force at each distance of L1.) Also note that the grippingforce is a sum of gripping forces of both fingers.

D3

7

Dimensions

2DCAD

Open side (home position): 5Closed side: 1

(Max

. ope

ratin

g ra

nge:

0.7

to 5

.3) *

1

2-M3, depth 6(same on the opposite side, ø2.4 drilled through)1.5

132 51

8

(220)

84

2.2

3 8.4

7.5

15

2-M2, depth 3

ø14

12

12

(15)

22 2

3 *2

(ø8.

3)

(ø5.

1)

2-ø1

.5 h

8

(16)

4.2 0

−0.05

+0.02 0

+0.02 0

0

−0.0

14

Actuator cableAllowable bending radius: R30 *3

2 depth 2(same on the opposite side)

ø2 depth 2(same on the opposite side)

185

16

3

*1 The maximum range in which the finger operates for home return operation, etc. Be careful not to let the finger contacts other finger belonging to the customer or any work present nearby.

*2 The finger moves to the dimensions shown in [ ] during home return, so pay attention to contact.*3 The actuator cable is not a robot cable, so it must be secured while in use.

3 points

DC24V

→ P30

→ P30

512 points

768 points

Compatible ControllersThe RCD series actuators can operate with the controllers below. Select the controller according to your usage.

Name Max. Pos. Points Input Voltage Power Supply Capacity See PageExternal View Model Number Description

SolenoidValve Type

DustproofSolenoidValve Type

Positioner Type

Pulse Train Type

Network Type

PIO control ready

Pulse-train input ready

Field network ready

DSEP-C-3I-①-2-0

DSEP-CW-3I-①-2-0

DCON-CA-3I-①-2-0

DCON-CA-3I-PL□-2-0

DCON-CA-3I-④-0-0

(Standard

Rated: 0.7AMax: 1.5A

Rated: 0.7AMax: 1.5A‒

* □ indicates N (NPN specification) or P (PNP specification) symbol.* ① indicates I/O type (NP/PN).* ④ indicates field network specification symbol.

Simple controller capable of operating actuators with the same signals used to operate solenoid valves, supporting both the single-solenoid method and the double-solenoid method.

Note: Take note that the simple absolute type is not available.

CAD drawings can be downloaded from the website. www.intelligentactuator.com

8

* The standard cable is the motor-encoder integrated robot cable.

■ Gripping Force vs. Electric Current Limit The gripping (pushing) force can be adjusted freely within the range of electric current limits of 20% to 70%.

00 10 20 30 40 50 60 70

2468

10121416

Cable List

Option List

Actuator Specifications

R C P 2 - G R S S RoboCylinder 2-Finger Gripper Vertical Small Slider Type 42 mm Width Pulse Motor

20P : 20□ sizePulse motor

I: Incremental * The Simpleabsolute encoder is also considered type "I."

N : NoneP : 1mS : 3mM : 5mX □□ : Custom

NM : Non-motor end specification

FB : Flange bracketSB : Shaft bracket

8 mm(4mm per

side)

30 : 1/30Deceleration

ratio

RCP2 　 GRSS 　 I 　 20P 　 30 　 8 　　　Series 　 Type 　 Encoder 　 Motor 　 Deceleration 　 Stroke 　 Compatible Controllers 　 Cable Length 　 Option 　　

Legend: 　 (Unit: mm/s)

Actuator Specifications■ Lead and Payload ■ Stroke and Max. Opening/Closing Speed


* The gripping force graph above shows the number of references. Please allow margins up to ± 15%.

P1:PCON-PL/PO/SEPSELRPCON

P3:PCON-CAPMEC/PSEPMSEP

L2

L1

* Operate with the L1 distance under 40 mm.* The gripping force in the graph below assumes that L1 and L2 in

the figure above are zero. (Refer to p. 26 for the rough guide ongripping force at each distance of L1.) Also note that the grippingforce is a sum of gripping forces of both fingers.

StrokeDecele-ration Ratio

8（mm）

3078

(per side)

Type

Standard Type(Robot cable)

P（1m）S（3m）M（5m）


Model Number Deceleration Ratio

Max. Gripping Force (N)

Stroke(mm)

3014

(7 per side)8

(4 per side)

Item Description

Name Option CodeNon-motor end specification NM P10

‒‒

Flange bracket FBShaft bracket SB

■ Model Description

P

O I N T

Notes on Selection



(3) The rated acceleration while moving is 0.3 G.

Grip

ping

forc

e (N

)Electric Current Limit (% ratio)

Cable SymbolDrive SystemPositioning RepeatabilityBacklash Lost MotionGuideAllowable Static Load Moment WeightAmbient Operating Temp./Humidity

Worm gear + helical gear + helical rack±0.01 mm0.2 mm or less per side (constantly pressed out by a spring)0.05 mm or less per sideLinear guideMa: 0.5N•m Mb: 0.5N•m Mc: 1.5N•m0.2 kg

See Page

9

CADCAD

* This is for the single-axis PSEL.*③ indicates number of axes (1~8).


Solenoid Valve Multi-axis TypePIO Specification

Solenoid Valve Multi-axis Type Net-work Specification

Positioner Type

Pulse Train Type

Network Type

Pulse Train Type(Differential Line Driver Specification)Pulse Train Type(Open Collector Specification)

Serial Communi-cation Type

Program Control Type

MSEP-C- ③ -～- ① -2-0Positioner type based on PIO control, allowing up to 8 axes to be connected

Filed network-ready positioner type, allowing up to 8 axes to be connected

PIO control ready


Field network ready

Differential line driver ready

Open collector ready

Dedicated serial communication type

Program operation is possible. Operation is possible up to 2 axes.

3 points

DC24V

See RoboCylinderGeneral Catalog.

→ P29

MSEP-C- ③ -～- ④ -0-0 256 points

PCON-CA-20PI- ① -2-0 512 points

1A max.

PCON-CA-20PI-PL□-2-0

PCON-CA-20PI- ④ -0-0 768 points

PCON-PL-20PI- ① -2-0－


See RoboCylinder

General Catalog.

PCON-PO-20PI- ① -2-0

PCON-SE-20PI-N-0-0 64 points

PSEL-CS-1-20PI- ① -2-0 1500 points

4

13.9

2

43

47

44

9

34

4-M3, depth 5

17 8.5

17

8-M3, depth 5 *2, *3(same on the opposite side)

8.5

17

35

42

24

Max

. 13.

5 (o

pen

side)

Min

. 5.5

(clo

sed

side)

1.5

71

52.4

Actuator cable allowable bending radius: R100 *4

Cable jointconnector *1

Secu

re a

t lea

st 1

009

0 −0.05

+0.03 02-ø3 depth 3

(same on the opposite side)

2-ø3

h7(

)0

−0.0

10

+0.05 02-3 depth 3



+0.05 02-3 depth 3


2-M3, depth 4

+0.03 0ø3 depth 3

+0.05 03 depth 3

+0.03 02-ø3 depth 3


Dimensions

2D * The opening side of the slider is the home position.*1 The motor-encoder cable is connected here.*2 Use all tap holes (4 locations) on the same mounting surface to secure the actuator.*3 Do not screw in the bolt beyond the depth of the fixing tap hole. The internal parts may be damaged. *4 The actuator cable is not a robot cable, so secure the cable while the actuator is in use.

Compatible ControllersThe RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.


－

* The standard configuration is that the home is on the open side. If you wish to have the home on the closed side, specify an applicable option (model: NM).


10

RCP4-GRSML

■

14 94

P（1m）S（3m）M（5m）X06（6m）～ X10（10m）X11（11m）～ X15（15m）X16（16m）～ X20（20m）R01（1m）～ R03（3m）R04（4m）～ R05（5m）R06（6m）～ R10（10m）R11（11m）～ R15（15m）R16（16m）～ R20（20m）

30 87 14

28P : 28 □ size P3: PCON-CA　 MSEP-C

AC1 : Actuator cable 1 m

NM : Non-motor endspecification

14 :14 mm

■ 　 RCP4 　 GRSML 　 I 　 28P 　 30 　 14 　 P3 　　

　　　　　　　　　　　　　　N : NoneP : 1 mS : 3 mM : 5 mX □□ : CustomR □□ : Robot cable

AC1NM P12

L2

L1

　100

80

60

40

20

0

　

RoboCylinder 2-Finger Gripper Vertical Medium Slider Type54 mm Width Pulse Motor

Series Type Encoder Motor Deceleration Stroke Compatible Controllers Cable Length Notes on Selection

Model Description

Pulse motorI: Incremental* The Simpleabsolute encoder is also considered type "I."

(7 mm per side)



the figure above are zero. (Refer to p. 26 for the rough guide gripping force at each distance of L1.) Also note that the grippingforce is a sum of gripping forces of both fingers.

10 20 30 40 50 60 70 80

Grip

ping

forc

e (N

)Push electric current limit (%)


* The gripping force graph above shows the num-




P

O I N T

Notes on Selection

Actuator SpecificationsStroke and Max. Opening/Closing Speed

Stroke (mm） Max. Speed (mm/s）Model Number DecelerationRatio


Stroke(mm)

(43.5 per side) (7 per side)

Legend: Cable length Options

Cable List

Type Cable Symbol

Standard Type

Special Length

Robot Cable


Item DescriptionDrive SystemPositioning RepeatabilityBacklash per Finger Lost MotionGuideStatic Load Moment WeightAmbient Operating Temp./Humidity

Worm gear + helical gear + helical rack±0.01 mm0.3 mm or less0.15 mm or less per sideLinear guideMa: 1.9N•m Mb: 2.7N•m Mc: 4.6N•m0.5 kg

Option List

Name Option Code

Non-motor end specificationP12Actuator Cable 1 m

See Page


ratio

■ Lead and Payload

11

CADCAD

3 points

92P→V42CD

256 points

512 points

768 points

（15）

（16

）

(Standard: 200)(Option: 1000)

2

87.5

55

10

20

38

4

4-M3 depth 6(same for opposite side) *3, *4

Open side (home position): 17.6 Closed side: 3.6 (Maximum range of operation: 2.6 to 18.6) *1

506

70.5

31.5 15

2

14.7

View A

34

21.4

4.27

12.2

2-M4, depth 5

17

（φ

8.5）

62 10.7


13

44

4

54

4-M3 depth 6*3, *4

View A

4

10

2020

55

φ3　 depth 3(same for opposite side)

＋0.03 0

＋0.

05 0

3　　

dept

h３

＋0.

05 03　

　de

pth３

(sam

e for

op

posit

e sid

e)

0 －0.

05

2-φ3 h7 0－0.010

* The standard length of the actuator cable is 200 mm. The cable length can be changed to 1000 mm by selecting an applicable option (model: AC1).

　


Dimensions

2D *1 This is the maximum range over which the finger operates during home return operation, etc. Be careful not to let the finger contact the customer’s finger, any nearby work part, etc.

*2 The actuator cable is a robot cable. *3 Use all tap holes (4 locations) on the same mounting surface to secure the actuator.*4 Do not screw in the bolt beyond the depth of the fixing tap hole. The internal parts may be damaged.

＋0.

05 0

3　　

dept

h３(sa

me f

or

oppo

site s

ide)

φ3　 depth 3(same for oppositeside) *3, *4

＋0.03 0 φ3　 depth 3

(same for opposite side)

＋0.03 0





Positioner Type

Pulse Train Type

Network Type

Positioner type based on PIO control, allowing up to 8 axes to be connected


PIO control ready


Field network ready

MSEP-C- ③ -～- ① -2-0

MSEP-C- ③ -～- ④ -0-0

PCON-CA-28PI- ① -2-0


PCON-CA-28PI- ④ -0-0


2.2 A max.

* ③ indicates number of axes (1~8).* □ indicates N (NPN specification) or P (PNP specification) symbol.

* ① indicates I/O type (NP/PN).* ④ indicates field network specification symbol.



12

L2

L1

　160

80

40

120

02010 30 40 50 60 70 80

RCP4-GRSLL 35P : 35 □ size P3: PCON-CA

　 MSEP-CAC1 : Actuator cable

1 mNM : Non-motor end

specification


■ 　 RCP4 　 GRSLL 　 I 　 35P 　 30 　 22 　 P3 　　


　

RoboCylinder 2-Finger Gripper Vertical Large Slider Type70 mm Width Pulse Motor


Model Description





Push current value (%)Gr

ippi

ng fo

rce

(N)






P

O I N T

Notes on Selection

■

22


30 140(70 per side)

22(11 per side)

AC1NM P14




Stroke(mm)


Cable List

Type Cable Symbol

Standard Type

Special Length

Robot Cable




Option List

Name Option Code


See Page

125


ratio


13

CADCAD

DC24V → P29

View A

49

24 12

4

76

518

2

110

88

5114.7

193

7624

4

22

12

54

18

4

70

42

21

29.7

10 6.15.788【89】*2 （15）

（16

）（φ

8.5）

16

2-φ4 h7 0－0.012

0

－0.

05



*2 Be careful not to let the finger contact any nearby object or structure as it moves to the dimension in [ ] during home return.


(Standard: 200)(Option:1000)


2-M4, depth 5





－

3 points

256 points

512 points

768 points



Positioner Type

Pulse Train Type

Network Type



PIO control ready


Field network ready


2.2 A max.

MSEP-C- ③ -～- ① -2-0

MSEP-C- ③ -～- ④ -0-0



PCON-CA-35PI- ④ -0-0



View A


＋0.03 0

＋0.

05 0

3　　

dept

h３

＋0.

05 03　

　de

pth３

(sam

e for

op

posit

e sid

e)

＋0.

05 03　

　de

pth３

(sam

e for

op

posit

e sid

e)


＋0.03 0


4-M4 depth 8*4, *5



＋0.03 0

DimensionsCAD drawings can be downloaded from the website. www.intelligentactuator.com

14

L2

L1

250

100

50

200

150

02010 30 40 50 60 70 80

RCP4-GRSWL 42P : 42 □ size P3: PCON-CA



specification


■ 　 RCP4 　 GRSWL 　 I 　 42P 　 28 　 30 　 P3 　　


　

RoboCylinder 2-Finger Gripper Vertical Extra Large Slider Type 80 mm Width Pulse Motor


Model Description








P

O I N T

Notes on Selection



Push current value (%)Gr

ippi

ng fo

rce

(N)

■

30


28 220(110 per side)

30(15 per side)

AC1NM P16




Stroke(mm)


Cable List

Type Cable Symbol

Standard Type

Special Length

Robot Cable




Option List

Name Option Code


See Page

157


ratio


15

CADCAD

107【108】 *2

（φ

8.5）

18 0 －

0.05

（15）

（16

）

2-φ5 h7 0－0.012

56

80.5

5

30 15

619

33

124.

514.7

54.5

1910

2.5

View A

5

1530

26

80.5

6.612

25

50

35.2

1.2

22

62

4-M5, depth 9 *4, *5

5

80

View A


Dimensions


*2 Be careful not to let the finger contact any nearby object or structure as it moves to the dimension in [ ] during home return.


(Standard: 200)(Option:1000)


2-M6, depth 6



φ4　 depth 4＋0.03 0

＋0.

05 0

4　　

dept

h 4

＋0.

05 0

4　　

dept

h 4

(sam

e for

op

posit

e sid

e)


＋0.03 0


＋0.03 0

DC24V → P29



－

3 points

256 points

512 points

768 points



Positioner Type

Pulse Train Type

Network Type



PIO control ready


Field network ready


2.2 A max.

MSEP-C- ③ -～- ① -2-0

MSEP-C- ③ -～- ④ -0-0



PCON-CA-42PI- ④ - 0-0






16

L1

* In the graph below, the gripping force value is the sum of gripping forces of both fingers.

Effective gripping force (GRLS) = F x 15.5/ (L1 + 15.5)


R C P 2 - G R L S RoboCylinder 2-Finger Gripper Vertical Small Lever Type 42 mm Width Pulse Motor

20P : 20 □ sizePulse motor

I: Incremental * The Simpleabsolute encoder is also considered type "I."

N : NoneP : 1mS : 3mM : 5mX□□ : Custom

NM : Non-motor end specification

FB : Flange bracketSB : Shaft bracket

180:180 degree(90 degreeper side)


ratio

RCP2 　GRLS 　 I 　 20P 　 30 　 180 　　　Series 　 Type 　 Encoder 　 Motor 　 Deceleration 　 Stroke 　 Compatible Controllers 　 Cable Length 　 Option 　　

■ Model Description

* Please note that, when gripping (pushing), the speed is fixed at 5 deg/s.


P

O I N T

Notes on Selection




00 10 20

Electric Current Limit (% ratio)30 40 50 60 70

1

2

3

4

5

6

7

Grip

ping

forc

e (N

)

* The gripping force of the graph below is measured on the top face of the lever. The actual gripping force drops in inverse proportion to the distance from the opening/closing fulcrum. Calculate the effective gripping force using the formula below.

* Operate with the L1 distance under 40 mm.

* The standard cable is the motor-encoder integrated robot cable.

Cable List

Option List


Legend: 　 (Unit: deg/s)

Actuator Specifications■ Lead and Payload ■ Stroke and Max. Opening/Closing Speed

StrokeDecele-ration Ratio

180（degree）

30600

(per side)

Type

Standard Type(Robot cable)

P（1m）S（3m）M（5m）


Model Number Deceleration Ratio

Max. Gripping Force (N)

Stroke(degree)

306.4

(3.2 per side)180

(90 per side)

Item Description

Name Option CodeNon-motor end specification NM P 18

‒‒

Flange bracket FBShaft bracket SB

Cable SymbolDrive SystemPositioning RepeatabilityBacklash Lost MotionGuideAllowable Static Load Moment WeightAmbient Operating Temp./Humidity

Worm gear + helical gear ±0.01 degree1.0 degree or less per side (constantly pressed out by a spring)0.1 degree or less per side‒‒0.2 kg

See Page

P1:PCON-PL/PO/SEPSELRPCON

P3:PCON-CAPMEC/PSEPMSEP

17

CADCAD

Dimensions

2D * The opening side of the slider is the home position. *1 The motor-encoder cable is connected here.*2 Use all tap holes (4 locations) on the same

mounting surface to secure the actuator.*3 Do not screw in the bolt beyond the depth of

the fixing tap hole. The internal parts may be damaged.

*4 The actuator cable is not a robot cable, so secure the cable while the actuator is in use.

* This is for the single-axis PSEL.*③ indicates number of axes (1~8).




Positioner Type

Pulse Train Type

Network Type

Pulse Train Type(Differential Line Driver Specification)Pulse Train Type(Open Collector Specification)

Serial Communi-cation Type

Program Control Type

MSEP-C- ③ -～- ① -2-0Positioner type based on PIO control, allowing up to 8 axes to be connected


PIO control ready


Field network ready

Differential line driver ready

Open collector ready

Dedicated serial communication type

Program operation is possible. Operation is possible up to 2 axes.

3 points

DC24V


→ P29

MSEP-C- ③ -～- ④ -0-0 256 points

PCON-CA-20PI- ① -2-0 512 points

1A max.


PCON-CA-20PI- ④ -0-0 768 points

PCON-PL-20PI- ① -2-0－


See RoboCylinder

General Catalog.

PCON-PO-20PI- ① -2-0

PCON-SE-20PI-N-0-0 64 points

PSEL-CS-1-20PI- ① -2-0 1500 points



－

9

9

18

4-M4, through

55

2466.5

4542

4-M3, depth 5 *2, *3

49 (same on the opposite side)

44

8.5

17

35

17

17

4

9

34

73

15.5

Max

. 180

° (op

en si

de)

Min

. 0° (

clos

ed si

de)

36

18



+0.03 0ø3 depth 3

+0.05 03 depth 3

+0.03 02-ø3 depth 3


+0.03 02-ø4 depth 2.5

+0.03 02-ø3 depth 3


+0.05 02-3 depth 3


+0.05 02-3 depth 3

Secu

re a

t lea

st 1

00

Cable jointconnector *1




18

L1

RCP4-GRLM 28P : 28 □ size P3: PCON-CA



specification

180 :180 degree(90 degree per side)

■ 　 RCP4 　 GRLM 　 I 　 28P 　 30 　 180 　 P3 　　


　

RoboCylinder 2-Finger Gripper Vertical Medium Lever Type 54 mm Width Pulse Motor

Series Type Encoder Motor Deceleration Stroke Compatible Controllers Cable Length Option

Model Description



■

180


RCP4-GRLM-I-28P-30-180-P3- 30 35(17.5 per side)

180(90 per side)

AC1NM P 20


Stroke (degree） Max. Speed (degree/s）Model Number DecelerationRatio


Stroke(degree)


Cable List

Type Cable Symbol

Standard Type

Special Length

Robot Cable



Worm gear + helical gear±0.05 degree2.5 degree or less0.3 degree or less per side‒‒0.5 kg

Option List

Name Option Code

Non-motor end specificationP 20Actuator Cable 1 m

See Page

600


Effective gripping force (GRLM) = F x 20 / (L1 + 20)



P

O I N T

Notes on Selection


(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 part weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work part, as well as on the shape of the work part. As a rough guide, a work part's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-27 for details.)




Electric Current Limit (% ratio)

40

30

20

10

02010 30 40 50 60 70 80

Grip

ping

forc

e (N

)


ratio


19

CADCAD* The standard length of the actuator cable is 200 mm.

The cable length can be changed to 1000 mm by selecting an applicable option (model: AC1).

Dimensions




DC24V → P29



－

3 points

256 points

512 points

768 points



Positioner Type

Pulse Train Type

Network Type



PIO control ready


Field network ready


2.2 A max.

MSEP-C- ③ -～- ① -2-0

MSEP-C- ③ -～- ④ -0-0



PCON-CA-28PI- ④ - 0-0



Actuator cable allowablebending radius: R50 *2

(ø8.

5)

(16)

(15)

(45)

92 20 10

4

59.5

40

22.5

1.5

1.51.5

9.5

1946

(8)

16±0.05Open side (home position): 180°Closed side: 0°

(Maximum range of operation: -4° to 184°) *1

4

1020

59.5



38

View A [Finger closed side]

20

2234

17

45

54 14.7

19

44

13

44-M3, depth 6

*3, *4

4-M4, depth 6

View A

82.8

72

[Finger open side]

Standard: 200 Option: 1000( )

+0.0

3 03

d

epth

3

+0.03 0

+0.012 0

ø3 depth 3

+0.03 0ø3 depth 3


+0.03 0ø3 depth 3

(same on the opposite side)+0.0

5 03

d

epth

3(s

ame

on th

e op

posit

e sid

e)

+0.0

5 03

d

epth

3(s

ame

on th

e op

posit

e sid

e)

2-ø4 H7 depth 4


20

L1

RCP4-GRLL 35P : 35 □ size P3: PCON-CA



specification


■ 　 RCP4 　 GRLL 　 I 　 35P 　 30 　 180 　 P3 　　


　

RoboCylinder 2-Finger Gripper Vertical Large Lever Type 70 mm Width Pulse Motor


Model Description


■ Gripping Force vs. Electric Current Limit The gripping (pushing) force can be adjusted freely withinthe range of electric current limits of 20% to 70%.


Effective gripping force (GRLL) = F x 26 / (L1 + 26)




80

40

20

60

02010 30 40 50 60 70 80

Grip

ping

forc

e (N

)



P

O I N T

Notes on Selection




■

180


30 60(30 per side)

180(90 per side)

AC1NM P 22




Stroke(degree)


Cable List

Type Cable Symbol

Standard Type

Special Length

Robot Cable



Worm gear + helical gear ±0.05 degree2.5 degree or less0.3 degree or less per side‒‒1.0. kg

Option List

Name Option Code


See Page

600


ratio

RCP4-GRLL-I-35P-30-180-P3-


21

CADCAD

Dimensions

2D


*1 This is the maximum range over which the finger operates during home return operation, etc. Be careful not to let the finger contact the customer’s finger, any nearby work part, etc.



DC24V → P29



－

3 points

256 points

512 points

768 points



Positioner Type

Pulse Train Type

Network Type



PIO control ready


Filed network ready


2.2 A max.

MSEP-C- ③ -～- ① -2-0

MSEP-C- ③ -～- ④ -0-0



PCON-CA-35PI- ④ - 0-0



View A [Finger closed side] [Finger open side]


27.5

113

2279

91

102.

218

454

4-M4, depth 8 *3, *4

20±0.05

(15)

(16)

(ø8.

5)

2-ø4 H7, depth 5

14.770


View A

Standard: 200 Option: 1000


Open side (home position): 180°Closed side: 0°


79

24

49

24

52 42

(52)2 2

(12)

2421

24 2412

60

4-M5, depth 7

12

42

45

12

4

( )

+0.03 0ø3 depth 3

+0.03 0ø3 depth 3


+0.03 0ø3 depth 3

(same on the opposite side)+0.0

5 03

d

epth

3(s

ame

on th

e op

posit

e sid

e)

+0.0

3 03

d

epth

3

+0.0

5 03

d

epth

3(s

ame

on th

e op

posit

e sid

e)


22

L1

RCP4-GRLW 42P : 42 □ size P3: PCON-CA



specification


■ 　 RCP4 　 GRLW 　 I 　 42P 　 28 　 180 　 P3 　　


　

RoboCylinder 2-Finger Gripper Vertical Extra Large Lever Type 80 mm Width Pulse Motor


Model Description


■ Gripping Force vs. Electric Current Limit The gripping (pushing) force can be adjusted freely withinthe range of electric current limits of 20% to 70%.


Effective gripping force (GRLW) = F x 30 / (L1 + 30)





P

O I N T

Notes on Selection





80

100

120

40

20

60

02010 30 40 50 60 70 80

Grip

ping

forc

e (N

)

■

180


28 90(45 per side)

180(90 per side)

AC1NM P 24




Stroke(degree)


Cable List

Type Cable Symbol

Standard Type

Special Length

Robot Cable



Worm gear + helical gear±0.05 degree2.5 degree or less0.3 degree or less per side‒‒1.4 kg

Option List

Name Option Code


See Page

643


ratio

RCP4-GRLW-I-42P-28-180-P3-


23

CADCAD

Dimensions

2D

(15)

60

80 14.7

50 26

25

4-2-M6, depth 8

24±0.05

(60)

(ø8.

5)

(16)

129.

5

2 2

14

28


26

5

55

(14)

31

2

28

70

30 15

85.5

[Finger open side]


85.5

56

5

30 15

View A [Finger closed side]

104

117.

2

62

22

54-M5, depth 9*3, *4

View A+0.0

3 04

d

epth

4

Open side (home position): 180°Closed side: 0°


+0.03 0ø4 depth 4

0- 0.0122-ø5 H7 depth 4

Standard: 200 Option: 1000( )


+0.03 0ø4 depth 4

(same on the opposite side)+0

.05

04

d

epth

4(s

ame

on th

e op

posit

e sid

e)

+0.0

5 04

d

epth

4(s

ame

on th

e op

posit

e sid

e)

+0.03 0ø4 depth 4


DC24V → P29



－

3 points

256 points

512 points

768 points



Positioner Type

Pulse Train Type

Network Type



PIO control ready


Field network ready


2.2 A max.

MSEP-C- ③ -～- ① -2-0

MSEP-C- ③ -～- ④ -0-0



PCON-CA-42PI- ④ - 0-0




*1 This is the maximum range over which the finger operates during home return operation, etc. Be careful not to let the finger contact the customer’s finger, any nearby work part, etc.




24

How to Select Grippers

Check the required grippingforce and maximum

allowable work part mass.

Step 1

Check the external forces

Step 3

Check the grippingpoint disatnce.

Step 2

Check the required gripping force and maximum allowable work part mass.Step 1

Check the gripping point distance.Step 2

If the work part is to be gripped using frictional force generated by gripping force, calculate the required gripping force as follows.

F: Gripping force (N) ‒ Total sum of push forces of both fingers µ: Coefficient of static friction between the finger

attachment and work part m: Work part mass (kg) g: Gravitational acceleration (= 9.8 m/s²)

●The conditions under which the work part remains statically gripped without dropping are as follows:

Ｆμ ＞Ｗm gμＦ＞

m gμ ）rotcaf ytefaS（ 2 ×＞Ｆ

m g0.1～0.2

Ｆ＞ × 2 ＝（10～20）× m g

●If the coefficient of friction µ is between 0.1 and 0.2, the following relationship holds water:

① Normal Transfer

② Work part receive large acceleration/deceleration and/or impact force during transfer. In addition to the gravity, a strong inertial force may act upon the work part. In this case, select an appropriate model by increasing the safety factor further.

* The greater the coefficient of static friction, the greater than maximum allowable work part mass be- comes. To ensure safety, however, select a model that can generate a gripping force of at least 10 to 20 times this work part mass.

Even when the gripping point distance is within the limits, still design your actuator as compact and lightweight as possible. If the finger is long and large, or heavy, the inertial forces generating upon opening/closing as well as bending moments may cause the performance of the actuator to drop or negatively affect its guide.

●Assuming a recommended safety factor of 2 for normal transfer, the required gripping force is calculated as follows:

W（mg）

Coefficient of friction μ

F/2F/2

H

L

Gripping point

100

80

60

40

20

0 20 40 60 80 100

Ove

rhan

g H G（

mm

）

Gripping point LG（mm）

RCP4-GRSL, GRSW

RCP4-GRSM

RCP2-GRSS

RCD-GRSNA

Use the actuator so that the distances (L, H) from the finger mounting surface to the gripping point fall in the ranges specified below. If the limits are exceeded, excessive moments may act upon the sliding part of the finger and internal mechanism, negatively affecting the service life of the actuator.

Slider Type

Receiving large acceleration/deceleration or impact

Required gripping force At least 30 to 50 times the work part mass Max. allowable work part mass Not more than 1/30th to 1/50th the gripp. force

Normal transfer of work part

Required gripping force At least 10 to 20 times the work part mass

Max. allowable work part mass Not more than 1/10th to 1/20th the gripp. force

25

② Allowable load momentCalculate Ma and Mc using L1, and Mb using L2. Confirm that the moments each finger will receive are equal to or less than the maximum allowable load moment.

① Allowable vertical load Confirm that the vertical load each finger will receive is equal to or less than the allowable load.

Step 3

M (Maximum allowable moment)（N・m）　L（mm）×10－3Allowable load F (N) ＞

Calculate the allowable load F (N) based on both L1 and L2. Confirm that the external force the finger will receive is equal to or less than the calculated allowable load F (N) (based on L1 or L2, whichever is smaller).

* The load application point shown above indicates the position of the load applied to the finger. This position varies depending on the type of load.

• Load due to gripping force: Gripping point • Load due to gravity: Gravity center position • Inertial force while moving, centrifugal force while turning:

Gravity center position The load moment represents the total sum of loads of different types.

Ma0.040.51.93.85.1

1460

356558651

RCD-GRSNARCP2-GRSSRCP4-GRSMRCP4-GRSLRCP4-GRSW

Model NumberMaximum allowable load moment （N・m）Allowable vertical

load F (N)） Mb0.040.52.75.57.2

Mc0.071.54.69.5

12.4

Rough Guide for Shape and Mass of Work Part 1. The graphs show the gripping force as a function of the gripping point distance when the maximum gripping force represents 100%. 2. The gripping point distance indicates the longitudinal distance from the finger attachment mounting surface to the gripping point. 3. The gripping force varies from one actuator to another. Use the values provided below for reference purpose only.

RCD-GRSNA RCP2-GRSS

RCP4-GRSML RCP4-GRSLL RCP4-GRSWL

1. The allowable values listed above are static values. 2. The allowable values are per-finger values. * The weight of the finger and that of the work part are also included in the external force.

The external force the finger will receive also includes the centrifugal force that generates when the gripper is turnedwhile gripping the work part, or the inertial force that generates as the actuator accelerates/decelerates while moving.

Ma

Mb

F

Mc

L2

L1

Loadapplication point

120

100

80

40

60

20

0

Gripping point distance (mm)

Grip

ping

forc

e (%

)

0 10 20 30 40

Change in Gripping Force by Gripping Point Distance 120

100

80

40

60

20

0


Grip

ping

forc

e (%

)

0 5 10 15 20

Change in Gripping Force by Gripping Point Distance

120

100

80

40

60

20

0


Grip

ping

forc

e (%

)

0 20 40 60 80 100


100

80

40

60

20

0


Grip

ping

forc

e (%

)

0 20 6040 80 100


100

80

40

60

20

0


Grip

ping

forc

e (%

)

0 20 40 60 80

Change in Gripping Force by Gripping Point Distance

● When each finger receives a moment load, the allowable external force must satisfy the relationship below:

26

Section A

Z

Section B

Z : (fulcrum)

c1

c2

a2

Z2Z1

R2R1

a1

b1b2

Z : Fulcrum

How to Select Grippers

Check the inertial moment

Step 2

Check the required grippingforce and maximum

allowable work part mass.

Step 1

Check the external forces

Step 3

Check the required gripping force and maximum allowable work part mass.Step 1

Step 2

Follow the same instruction in step 1 for the slider type to calculate the required gripping

[1] Inertial moment JZ1 around the Z1-axis (center of gravity of A) (Section A)

Normal transfer of work part

Required gripping force At least 10 to 20 times the work part mass

Max. allowable work part mass Not more than 1/10th to 1/20th the gripp. force

1.5×10−4

6.0×10−4

1.3×10−3

3.0×10−3

RCP2-GRLS

RCP4-GRLM

RCP4-GRLL

RCP4-GRLW

Model Number Allowable inertial moment J (kg

0.07

0.15

0.25

0.4

Receiving large acceleration/deceleration or impact

Required gripping force At least 30 to 50 times the work part mass Max. allowable work part mass Not more than 1/30th to 1/50th the gripp. force

moment by dividing it into two components is given below.

W (mg)of friction µ

F/2F/2

JZ1 (kg 12

R1 : R2 :

[3] Total inertial moment J around the Z-axis (fulcrum)

m1 : Mass of A (kg) a1, b1, c1 : Dimensions of A (mm)

J (kg Z1 + Z2

Lever Type

[2] Inertial moment JZ2 around the Z2-axis (center of gravity of B) (Section B)

m2 : Mass of B (kg) a2, b2, c2 : Dimensions of B (mm)

JZ2 (kg 12

27

Z : (Fulcrum)

R1

R2

W2W1

Step 3

maximum allowable load torque. The load torque is calculated from the

[1] Allowable load torque T

[2] Allowable thrust load F

is equal to or less than the allowable load.

15

20

25

30

RCP2-GRLS

RCP4-GRLM

RCP4-GRLL

RCP4-GRLW

Model Number Maximum allowable thrust load F (N)

0.05

0.35

0.70

1.50

RCP2-GRLS

RCP4-GRLM

RCP4-GRLL

RCP4-GRLW

Maximum allowable load torque T (N m)

F = W1 + W2 + (Other thrust load) = m1 g + m2 g + (Other thrust load) F

W1

W2

m1 : Work part mass (kg)R1 : m2 : Finger mass (kg) R2 : g :

* The centrifugal force that generates when the gripper is turned while gripping the work part or the inertial force that generates as the actuator e force to the

wable load torque.

Model Number

fulcrum

fulcrum

28

Positioner / Field network 8-axis Type

Position controller SEP series for RCP2/RCP4 Gripper

Positioner / Pulse-train / Field network Type

Position controller CON series for RCP2/RCP4 Gripper

List of Models

RoboCylinder Position Controller PowerCon 150 <PCON-CA>

External view

I/O type Positionertype

Pulse-traintype

Field network type

PROFIBUSCC-LinkDeviceNet CompoNet MECHATROLINK(*)

EtherNet/IPEtherCAT

I/O code NP/PN PLN/PLP DV CC PR CN ML EC EP

Simpleabsolute

With absolutebattery

No absolutebattery

With absolutebattery unit

–

–

–

PROFINET

PRT

Type C

I/O category NP PN DV CC PR CN ML EC EP

Item name PIO specification(NPN type)

PIO specification (PNP type)

DeviceNet specification

CC-Link specification

PROFIBUS-DP specification

CompoNetspecification

MECHATROLINKspecification (*)

EtherCAT specification

EtherNet/IP specification

PRT

specification

Exterior view

Item description

Operates via digital signals from the PLC

Operates with any of the above field network connections. A choice of method either a serial communication with PIO specification control, or transmitting traveling position, velocity and acceleration by data is available.

No. of positions 3 positions per axis 256 positions per axis (There is no limit if operated directly by transferring data)

*


The picture shown is of the PIO specification. Depending on the I/O category, the PIO connector and field

network joint connector changes.


List of Models

29

Positioner Standard / Dustproof Type (Model C/CW)3-Position controller SEP series for RCD Gripper

Controller Model Description

DSEPSeries Type

3Motor I/O type

IEncoder I/O cable length Power supply voltage

C Standard

CW Dustproof

NP NPN

PN PNP

0 No cable

2 2 m (standard)

3 3m

5 5m

0 24 V DCI Incremental3 Brushless, DC, 2.5 W

Positioner / Pulse-train / Field network Type

Position controller CON series for RCD Gripper

List of Models

RoboCylinder Position Controller <DCON-CA>

I/O type PIOtype

Pulse-train type

Field network type

DeviceNet connection

CC-Link connection

PROFIBUS-DP connection

CompoNet connection

Mechatrolinkconnection

PROFINET-IOconnection

EtherCAT connection

EtherNet/IP connection

I/O code NP/PN PLN/PLP DV CC PR CN ML EC PRT

EP


Controller Model Description

I IncrementalCA Standard type

3 2.5W motor(brushless DC motor)

0235

No cable

2m

3m

5m

0 DC24V

0ICADCON

(Blank)DN

I/O type I/O cable lengthMotor typeSeries Type Power supplyvoltage

Controller mountingEncoder type

is selected, the I/O cable length is “0.”

* Mechatrolink w/o CE conformity yet.

NPPN

PLNPLPDVCCPRCNML

ECEP

PRT

30

CJ0207-1A-UST-2-0914

IAI America, Inc.Headquarters: 2690 W. 237th Street, Torrance, CA 9050 (800) 736-1712Chicago Office: 110 East State Parkway, Schaumburg, IL 60173 (800) 944-0333Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 (888) 354-9470

www.intelligentactuator.com

IAI Industrieroboter GmbHOber der Röth 4, D-65824 Schwalbach am Taunus, Germany

IAI Robot (Thailand), CO., Ltd.825 PhairojKijja Tower 12th Floor, Bangna-Trad RD.,Bangna, Bangna, Bangkok 10260, Thailand

The information contained in this product brochure may change without prior notice due to product improvements.

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