w w w . i n t e l l i g e n t a c t u a t o r. c o m
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
Teaching PendantModel TB-01 (*)
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
Teaching PendantModel TB-01 (*)
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
Compatible Controllers
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
Compatible Controllers
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
* Please note that, when gripping (pushing), the speed is fixed at 5 mm/s.
* 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)
Special LengthX06(6m) ~ X10(10m)X11(11m)~ X15(15m)X16(16m)~ X20(20m)
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
(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 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).
* □ indicates N (NPN specification) or P (PNP specification) symbol.* ① indicates I/O type (NP/PN).* ④ indicates field network specification symbol.
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
Pulse-train input 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 RoboCylinderGeneral Catalog.
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
(same on the opposite side)
8-M3, depth 5 *2, *3(same on the opposite side)
+0.05 02-3 depth 3
(same on the opposite side)
2-M3, depth 4
+0.03 0ø3 depth 3
+0.05 03 depth 3
+0.03 02-ø3 depth 3
(same on the opposite side)
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.
Name Max. Pos. Points Input Voltage Power Supply Capacity See PageExternal View Model Number Description
-
* 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).
CAD drawings can be downloaded from the website. www.intelligentactuator.com
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)
■ 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%.
* Operate with the L1 distance under 80 mm.* The gripping force in the graph below assumes that L1 and L2
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 (%)
* Please note that, when gripping (pushing), the speed is fixed at 5 mm/s.
* The gripping force graph above shows the num-
(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 rated acceleration while moving is 0.3 G.
P
O I N T
Notes on Selection
Actuator SpecificationsStroke and Max. Opening/Closing Speed
Stroke (mm) Max. Speed (mm/s)Model Number DecelerationRatio
Max. GrippingForce (N)
Stroke(mm)
(43.5 per side) (7 per side)
Legend: Cable length Options
Cable List
Type Cable Symbol
Standard Type
Special Length
Robot Cable
Actuator Specifications
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
30 : 1/30Deceleration
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
Actuator cable allowable bending radius: R50 *2
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).
* 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).
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
Compatible ControllersThe RCP4 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
Solenoid Valve Multi-axis TypePIO Specification
Solenoid Valve Multi-axis Type Net-work Specification
Positioner Type
Pulse Train Type
Network Type
Positioner 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
Pulse-train input 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-PL□-2-0
PCON-CA-28PI- ④ -0-0
See RoboCylinderGeneral Catalog.
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.
4-M3 depth 6(same for opposite side) *3, *4
CAD drawings can be downloaded from the website. www.intelligentactuator.com
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
22 : 22 mm(11 mm per side)
■ RCP4 GRSLL I 35P 30 22 P3
N : NoneP : 1 mS : 3 mM : 5 mX □□ : CustomR □□ : Robot cable
RoboCylinder 2-Finger Gripper Vertical Large Slider Type70 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."
■ 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%.
* Operate with the L1 distance under 100 mm.* The gripping force in the graph below assumes that L1 and L2
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.
Push current value (%)Gr
ippi
ng fo
rce
(N)
* Please note that, when gripping (pushing), the speed is fixed at 5 mm/s.
* The gripping force graph above shows the num-
(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 rated acceleration while moving is 0.3 G.
P
O I N T
Notes on Selection
■
22
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)
30 140(70 per side)
22(11 per side)
AC1NM P14
Actuator SpecificationsStroke and Max. Opening/Closing Speed
Stroke (mm) Max. Speed (mm/s)Model Number DecelerationRatio
Max. GrippingForce (N)
Stroke(mm)
Legend: Cable length Options
Cable List
Type Cable Symbol
Standard Type
Special Length
Robot Cable
Actuator Specifications
Item DescriptionDrive SystemPositioning RepeatabilityBacklash per Finger Lost MotionGuideStatic Load Moment WeightAmbient Operating Temp./Humidity
Worm gear + helical gear + helical rack±0.01 mm0.4 mm or less0.15 mm or less per sideLinear guideMa: 3.8N•m Mb: 5.5N•m Mc: 9.5N•m1.0 kg
Option List
Name Option Code
Non-motor end specificationP14Actuator Cable 1 m
See Page
125
30 : 1/30Deceleration
ratio
■ Lead and Payload
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
* 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).
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 Be careful not to let the finger contact any nearby object or structure as it moves to the dimension in [ ] during home return.
*3 The actuator cable is a robot cable. *4 Use all tap holes (4 locations) on the same mounting surface to secure the actuator.*5 Do not screw in the bolt beyond the depth of the fixing tap hole. The internal parts may be damaged.
(Standard: 200)(Option:1000)
Open side (home position): 27.8 Closed side: 5.8 (Maximum range of operation: 4.8 to 28.8) *1
2-M4, depth 5
Actuator cable allowable bending radius: R50 *3
* 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).
Compatible ControllersThe RCP4 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
-
3 points
256 points
512 points
768 points
Solenoid Valve Multi-axis TypePIO Specification
Solenoid Valve Multi-axis Type Net-work Specification
Positioner Type
Pulse Train Type
Network Type
Positioner 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
Pulse-train input ready
Field network ready
See RoboCylinderGeneral Catalog.
2.2 A max.
MSEP-C- ③ -~- ① -2-0
MSEP-C- ③ -~- ④ -0-0
PCON-CA-35PI- ① -2-0
PCON-CA-35PI-PL□-2-0
PCON-CA-35PI- ④ -0-0
* 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.
View A
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.
05 03
de
pth3
(sam
e for
op
posit
e sid
e)
φ3 depth 3(same for opposite side)
+0.03 0
4-M4 depth 8(same for opposite side) *4, *5
4-M4 depth 8*4, *5
4-M4 depth 8(same for opposite side) *4, *5
φ3 depth 3(same for opposite side)
+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
MSEP-CAC1 : Actuator cable
1 mNM : Non-motor end
specification
30 : 30 mm(15 mm per side)
■ RCP4 GRSWL I 42P 28 30 P3
N : NoneP : 1 mS : 3 mM : 5 mX □□ : CustomR □□ : Robot cable
RoboCylinder 2-Finger Gripper Vertical Extra Large Slider Type 80 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."
■ 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%.
* Please note that, when gripping (pushing), the speed is fixed at 5 mm/s.
* The gripping force graph above shows the num-
(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 rated acceleration while moving is 0.3 G.
P
O I N T
Notes on Selection
* Operate with the L1 distance under 100 mm.* The gripping force in the graph below assumes that L1 and L2
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.
Push current value (%)Gr
ippi
ng fo
rce
(N)
■
30
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)
28 220(110 per side)
30(15 per side)
AC1NM P16
Actuator SpecificationsStroke and Max. Opening/Closing Speed
Stroke (mm) Max. Speed (mm/s)Model Number DecelerationRatio
Max. GrippingForce (N)
Stroke(mm)
Legend: Cable length Options
Cable List
Type Cable Symbol
Standard Type
Special Length
Robot Cable
Actuator Specifications
Item DescriptionDrive SystemPositioning RepeatabilityBacklash per Finger Lost MotionGuideStatic Load Moment WeightAmbient Operating Temp./Humidity
Worm gear + helical gear + helical rack±0.01 mm0.4 mm or less0.15 mm or less per sideLinear guideMa: 5.1N•m Mb: 7.2N•m Mc: 12.4N•m1.6 kg
Option List
Name Option Code
Non-motor end specificationP16Actuator Cable 1 m
See Page
157
28 : 1/28Deceleration
ratio
■ Lead and Payload
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
* 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 Be careful not to let the finger contact any nearby object or structure as it moves to the dimension in [ ] during home return.
*3 The actuator cable is a robot cable. *4 Use all tap holes (4 locations) on the same mounting surface to secure the actuator.*5 Do not screw in the bolt beyond the depth of the fixing tap hole. The internal parts may be damaged.
(Standard: 200)(Option:1000)
Open side (home position): 35.8 Closed side: 5.8 (Maximum range of operation: 4.8 to 36.8) *1
2-M6, depth 6
Actuator cable allowable bending radius: R50 *3
* 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).
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)
φ4 depth 4(same for opposite side)
+0.03 0
φ4 depth 4(same for opposite side)
+0.03 0
DC24V → P29
Compatible ControllersThe RCP4 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
-
3 points
256 points
512 points
768 points
Solenoid Valve Multi-axis TypePIO Specification
Solenoid Valve Multi-axis Type Net-work Specification
Positioner Type
Pulse Train Type
Network Type
Positioner 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
Pulse-train input ready
Field network ready
See RoboCylinderGeneral Catalog.
2.2 A max.
MSEP-C- ③ -~- ① -2-0
MSEP-C- ③ -~- ④ -0-0
PCON-CA-42PI- ① -2-0
PCON-CA-42PI-PL□-2-0
PCON-CA-42PI- ④ - 0-0
* 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.
4-M5 depth 10(same for opposite side) *4, *5
4-M5 depth 10(same for opposite side) *4, *5
CAD drawings can be downloaded from the website. www.intelligentactuator.com
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)
■ 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%.
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)
30 : 1/30Deceleration
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.
* The gripping force graph above shows the number of references. Please allow margins up to ± 15%.
P
O I N T
Notes on Selection
(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 27 for details.)
(3) The rated acceleration while moving is 0.3 G.
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
Actuator Specifications
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)
Special LengthX06(6m) ~ X10(10m)X11(11m)~ X15(15m)X16(16m)~ X20(20m)
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).
* □ indicates N (NPN specification) or P (PNP specification) symbol.* ① indicates I/O type (NP/PN).* ④ indicates field network specification symbol.
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
Pulse-train input 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 RoboCylinderGeneral Catalog.
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
Compatible ControllersThe RCP2 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
-
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
8-M3, depth 5 *2, *3(same on the opposite side)
8-M3, depth 5 *2, *3(same on the opposite side)
+0.03 0ø3 depth 3
+0.05 03 depth 3
+0.03 02-ø3 depth 3
(same on the opposite side)
+0.03 02-ø4 depth 2.5
+0.03 02-ø3 depth 3
(same on the opposite side)
+0.05 02-3 depth 3
(same on the opposite side)
+0.05 02-3 depth 3
Secu
re a
t lea
st 1
00
Cable jointconnector *1
Actuator cable allowable bending radius: R100 *4
* 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).
CAD drawings can be downloaded from the website. www.intelligentactuator.com
18
L1
RCP4-GRLM 28P : 28 □ size P3: PCON-CA
MSEP-CAC1 : Actuator cable
1 mNM : Non-motor end
specification
180 :180 degree(90 degree per side)
■ RCP4 GRLM I 28P 30 180 P3
N : NoneP : 1 mS : 3 mM : 5 mX □□ : CustomR □□ : Robot cable
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
Pulse motorI: Incremental* The Simpleabsolute encoder is also considered type "I."
■ 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%.
■
180
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)
RCP4-GRLM-I-28P-30-180-P3- 30 35(17.5 per side)
180(90 per side)
AC1NM P 20
Actuator SpecificationsStroke and Max. Opening/Closing Speed
Stroke (degree) Max. Speed (degree/s)Model Number DecelerationRatio
Max. GrippingForce (N)
Stroke(degree)
Legend: Cable length Options
Cable List
Type Cable Symbol
Standard Type
Special Length
Robot Cable
Actuator Specifications
Item DescriptionDrive SystemPositioning RepeatabilityBacklash per Finger Lost MotionGuideStatic Load Moment WeightAmbient Operating Temp./Humidity
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
* In the graph below, the gripping force value is the sum of gripping forces of both fingers.
Effective gripping force (GRLM) = F x 20 / (L1 + 20)
* Please note that, when gripping (pushing), the speed is fixed at 5 deg/s.
* The gripping force graph above shows the number of references. Please allow margins up to ± 15%.
P
O I N T
Notes on Selection
(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 A-27 for details.)
(3) The rated acceleration while moving is 0.3 G.
* 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 100 mm.
Electric Current Limit (% ratio)
40
30
20
10
02010 30 40 50 60 70 80
Grip
ping
forc
e (N
)
30 : 1/30Deceleration
ratio
■ Lead and Payload
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
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.
* 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).
DC24V → P29
Compatible ControllersThe RCP4 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
-
3 points
256 points
512 points
768 points
Solenoid Valve Multi-axis TypePIO Specification
Solenoid Valve Multi-axis Type Net-work Specification
Positioner Type
Pulse Train Type
Network Type
Positioner 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
Pulse-train input ready
Field network ready
See RoboCylinderGeneral Catalog.
2.2 A max.
MSEP-C- ③ -~- ① -2-0
MSEP-C- ③ -~- ④ -0-0
PCON-CA-28PI- ① -2-0
PCON-CA-28PI-PL□-2-0
PCON-CA-28PI- ④ - 0-0
* 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.
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
4-M3, depth 6 *3, *4(same on the opposite side)
4-M3, depth 6 *3, *4(same on the opposite side)
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
(same on the opposite side)
+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
CAD drawings can be downloaded from the website. www.intelligentactuator.com
20
L1
RCP4-GRLL 35P : 35 □ size P3: PCON-CA
MSEP-CAC1 : Actuator cable
1 mNM : Non-motor end
specification
180 :180 degree(90 degree per side)
■ RCP4 GRLL I 35P 30 180 P3
N : NoneP : 1 mS : 3 mM : 5 mX □□ : CustomR □□ : Robot cable
RoboCylinder 2-Finger Gripper Vertical Large Lever Type 70 mm Width Pulse Motor
Series Type Encoder Motor Deceleration Stroke Compatible Controllers Cable Length Option
Model Description
Pulse motorI: Incremental* The Simpleabsolute encoder is also considered type "I."
■ Gripping Force vs. Electric Current Limit The gripping (pushing) force can be adjusted freely withinthe range of electric current limits of 20% to 70%.
* In the graph below, the gripping force value is the sum of gripping forces of both fingers.
Effective gripping force (GRLL) = F x 26 / (L1 + 26)
* 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 100 mm.
Electric Current Limit (% ratio)
80
40
20
60
02010 30 40 50 60 70 80
Grip
ping
forc
e (N
)
* Please note that, when gripping (pushing), the speed is fixed at 5 deg/s.
* The gripping force graph above shows the number of references. Please allow margins up to ± 15%.
P
O I N T
Notes on Selection
(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 A-27 for details.)
(3) The rated acceleration while moving is 0.3 G.
■
180
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 60(30 per side)
180(90 per side)
AC1NM P 22
Actuator SpecificationsStroke and Max. Opening/Closing Speed
Stroke (degree) Max. Speed (degree/s)Model Number DecelerationRatio
Max. GrippingForce (N)
Stroke(degree)
Legend: Cable length Options
Cable List
Type Cable Symbol
Standard Type
Special Length
Robot Cable
Actuator Specifications
Item DescriptionDrive SystemPositioning RepeatabilityBacklash per Finger Lost MotionGuideStatic Load Moment WeightAmbient Operating Temp./Humidity
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
Non-motor end specificationP 22Actuator Cable 1 m
See Page
600
30 : 1/30Deceleration
ratio
RCP4-GRLL-I-35P-30-180-P3-
■ Lead and Payload
21
CADCAD
Dimensions
2D
* 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).
*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.
* 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).
DC24V → P29
Compatible ControllersThe RCP4 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
-
3 points
256 points
512 points
768 points
Solenoid Valve Multi-axis TypePIO Specification
Solenoid Valve Multi-axis Type Net-work Specification
Positioner Type
Pulse Train Type
Network Type
Positioner 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
Pulse-train input ready
Filed network ready
See RoboCylinderGeneral Catalog.
2.2 A max.
MSEP-C- ③ -~- ① -2-0
MSEP-C- ③ -~- ④ -0-0
PCON-CA-35PI- ① -2-0
PCON-CA-35PI-PL□-2-0
PCON-CA-35PI- ④ - 0-0
* 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.
View A [Finger closed side] [Finger open side]
4-M4, depth 8 *3, *4(same on the opposite 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
Actuator cable allowablebending radius: R50 *2
View A
Standard: 200 Option: 1000
4-M4, depth 8 *3, *4(same on the opposite side)
Open side (home position): 180°Closed side: 0°
(Maximum range of operation: -4° to 184°) *1
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
(same on the opposite side)
+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)
CAD drawings can be downloaded from the website. www.intelligentactuator.com
22
L1
RCP4-GRLW 42P : 42 □ size P3: PCON-CA
MSEP-CAC1 : Actuator cable
1 mNM : Non-motor end
specification
180 :180 degree(90 degree per side)
■ RCP4 GRLW I 42P 28 180 P3
N : NoneP : 1 mS : 3 mM : 5 mX □□ : CustomR □□ : Robot cable
RoboCylinder 2-Finger Gripper Vertical Extra Large Lever Type 80 mm Width Pulse Motor
Series Type Encoder Motor Deceleration Stroke Compatible Controllers Cable Length Option
Model Description
Pulse motorI: Incremental* The Simpleabsolute encoder is also considered type "I."
■ Gripping Force vs. Electric Current Limit The gripping (pushing) force can be adjusted freely withinthe range of electric current limits of 20% to 70%.
* In the graph below, the gripping force value is the sum of gripping forces of both fingers.
Effective gripping force (GRLW) = F x 30 / (L1 + 30)
* 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 100 mm.
* Please note that, when gripping (pushing), the speed is fixed at 5 deg/s.
* The gripping force graph above shows the number of references. Please allow margins up to ± 15%.
P
O I N T
Notes on Selection
(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 A-27 for details.)
(3) The rated acceleration while moving is 0.3 G.
Electric Current Limit (% ratio)
80
100
120
40
20
60
02010 30 40 50 60 70 80
Grip
ping
forc
e (N
)
■
180
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)
28 90(45 per side)
180(90 per side)
AC1NM P 24
Actuator SpecificationsStroke and Max. Opening/Closing Speed
Stroke (degree) Max. Speed (degree/s)Model Number DecelerationRatio
Max. GrippingForce (N)
Stroke(degree)
Legend: Cable length Options
Cable List
Type Cable Symbol
Standard Type
Special Length
Robot Cable
Actuator Specifications
Item DescriptionDrive SystemPositioning RepeatabilityBacklash per Finger Lost MotionGuideStatic Load Moment WeightAmbient Operating Temp./Humidity
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
Non-motor end specificationP 24Actuator Cable 1 m
See Page
643
28 : 1/28Deceleration
ratio
RCP4-GRLW-I-42P-28-180-P3-
■ Lead and Payload
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
Actuator cable allowablebending radius: R50 *2
26
5
55
(14)
31
2
28
70
30 15
85.5
[Finger open side]
4-M5, depth 10 *3, *4(same on the opposite 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°
(Maximum range of operation: -4° to 184°) *1
+0.03 0ø4 depth 4
0- 0.0122-ø5 H7 depth 4
Standard: 200 Option: 1000( )
4-M5, depth 10 *3, *4(same on the opposite side)
+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
(same on the opposite side)
DC24V → P29
Compatible ControllersThe RCP4 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
-
3 points
256 points
512 points
768 points
Solenoid Valve Multi-axis TypePIO Specification
Solenoid Valve Multi-axis Type Net-work Specification
Positioner Type
Pulse Train Type
Network Type
Positioner 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
Pulse-train input ready
Field network ready
See RoboCylinderGeneral Catalog.
2.2 A max.
MSEP-C- ③ -~- ① -2-0
MSEP-C- ③ -~- ④ -0-0
PCON-CA-42PI- ① -2-0
PCON-CA-42PI-PL□-2-0
PCON-CA-42PI- ④ - 0-0
* 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.
* 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).
*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.
* 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).
CAD drawings can be downloaded from the website. www.intelligentactuator.com
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
Gripping point distance (mm)
Grip
ping
forc
e (%
)
0 5 10 15 20
Change in Gripping Force by Gripping Point Distance
120
100
80
40
60
20
0
Gripping point distance (mm)
Grip
ping
forc
e (%
)
0 20 40 60 80 100
Change in Gripping Force by Gripping Point Distance 120
100
80
40
60
20
0
Gripping point distance (mm)
Grip
ping
forc
e (%
)
0 20 6040 80 100
Change in Gripping Force by Gripping Point Distance 120
100
80
40
60
20
0
Gripping point distance (mm)
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)
*
(*) Mechatrolink w/o CE conformity yet.
The picture shown is of the PIO specification. Depending on the I/O category, the PIO connector and field
network joint connector changes.
(*) Mechatrolink w/o CE conformity yet.
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
(*) Mechatrolink w/o CE conformity yet.
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.