gripper type / rotary type · 2015-09-29 · gripper type / rotary type 372 mini mini mini slider...

RCP2 ROBO Cylinder RCP2 ROBO Cylinder

371 Gripper Type / Rotary Type

Gripper Type / Rotary Type


RCP2 RCS2

RCP2-GRSS

RCS2-RT6

RCP2-GRHM

RCP2-GRLS

RCS2-RTC10L

RCP2-GR3SSRCP2-GRHB

RCP2-GRS

RCS2-RTC12L

RCS2-GR8

RCP2-GRM RCP2-GRST

RCP2-RTBS/RTBSL

RCS2-RTC8L/RTC8HL

RCP2-RTB/RTBL

RCP2-RTBB/RTBBL

RCP2-RTCS/RTCSL

RCP2-RTC/RTCL

RCP2-RTCB/RTCBL

RCP2-GR3LS


Gripper Type / Rotary Type 372

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard

ControllersIntegrated



RCP2 seriesPulse MotorType

2-Finger Gripper Mini Slider Type 42mm Width RCP2-GRSS 373Mini Lever Type 42mm Width RCP2-GRLS 375Small Slider Type 69mm Width RCP2-GRS 377Medium Slider Type 74mm Width RCP2-GRM 379Long Stroke Slider Type 130mm Width RCP2-GRST 381

190mm WidthMedium High-force Gripper 116mm Width RCP2-GRHM 383Large High-force Gripper 131mm Width RCP2-GRHB 385

3-Finger Gripper Lever Type 62mm Width RCP2-GR3LS 38780mm Width RCP2-GR3LM 389

Slider Type 62mm Width RCP2-GR3SS 39180mm Width RCP2-GR3SM 393

RCS2 series200V Servo Motor Type

2-Finger Gripper Long Stroke Slider Type 104mm Width RCS2-GR8 395

284mm Width

RCP2 seriesPulseMotor Type

Rotary Small Vertical Type 45mm Width RCP2-RTBS/RTBSL 397Small Flat Type 72mm Width RCP2-RTCS/RTCSL 399Medium Vertical Type 50mm Width RCP2-RTB/RTBL 401Medium Flat Type 88mm Width RCP2-RTC/RTCL 403Large Vertical Type 76mm Width RCP2-RTBB/RTBBL 405Large Flat Type 124mm Width RCP2-RTCB/RTCBL 407

RCS2 series200V Servo Motor Type

Hollow Rotary Small Type 85mm Width RCS2-RTC8L/RTC8HL 409Medium Type 99mm Width RCS2-RTC10L 411Large Type 123mm Width RCS2-RTC12L 413

Rotary Straight Motor Type 64mm Width RCS2-RT6 415

~~

RCP2 ROBO Cylinder

373 RCP2-GRSS

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



OptionsName Option code See page Standard price

Non-motor end specification NM ➝ A-52 —Flange bracket FB ➝ A-43 —Shaft bracket SB ➝ A-55 —

Actuator Specifications

Item DescriptionDrive System Worm gear + helical gear + helical rackPositioning repeatability ±0.01mmBacklash 0.2mm or less per side (constantly pressed out by a spring)Lost motion 0.05mm or less per sideGuide Linear guideAllowable static load moment Ma: 0.5 N·m, Mb: 0.5 N·m, Mc: 1.5 N·mWeight 0.2kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)


� Lead and Payload � Stroke and Max. Opening/Closing Speed

Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options (Unit: mm/s)

Stroke 8 (mm)Deceleration ratio

30 78(per side)

Model number Deceleration Ratio Maximum Gripping Force (N)

Stroke(mm)

RCP2-GRSS-I-20P-30-8- ➀ - ➁ - ➂ 30 14(7 per side)

8(4 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 piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.)

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

Grip

ping

forc

e (N)

Current Limit (% ratio)

00 10 20 30 40 50 60 70

2

4

68

1012

14

16

L2

L1

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

* Operate with the L1 distance up to 40mm.* The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.

* The gripping force graph above shows reference numbers. Please allow margins up to ± 15%.

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

Stroke

Stroke (mm) Standard price

8 —

Appendix

P.5

RCP2-GRSS ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 42mm, Pulse Motor

30 :1/30 deceleration ratio

20P: Pulse motor, 20 size

I: Incremental* The Simple absolute

encoder is also considered type "I".

P1: PCON-PL/PO/SE PSELP3: PCON-CA PMEC/PSEP MSEP

N: None P: 1m S: 3m M: 5mX: Custom Length

Deceleration Ratio Stroke Cable length OptionsTypeGRSS

Encoder typeI

Motor type20P

Applicable controllerSeriesRCP2Model

SpecificationItems

8: 8mm(4mm per side)

* See page Pre-47 for details on the model descriptions.

NM: Non-motor endFB: Flange bracketSB: Shaft bracket

30 8

Type Cable symbol Standard price

Standard(Robot Cables)

P (1m) —S (3m) —M (5m) —

Special lengthX06 (6m) ~ X10 (10m) —X11 (11m) ~ X15 (15m) —X16 (16m) ~ X20 (20m) —

* The standard cable is the motor-encoder integrated robot cable.* See page A-59 for cables for maintenance.

Cable Length

RCP2 ROBO Cylinder

RCP2-GRSS 374

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



4

13.9

2

43

47

(same for opposite side)

44

9

34

4-M3 depth 5

17

(same for opposite side)8-M3 dapth 5


8.517


(same for opposite side)8-M3 depth 5


8.5

1735

42

24

MIN

5.5

MA

X 13

.5

2-M3 depth 4 1.5

71

4.2

5

+0.03 0 depth 32-ø3

+0.03 0 depth 32-ø3

+0.03 0 depth 3ø3

+0.05 0 depth 33+0.05

0 depth 32-3

- 0.050

9

+0.05 0 depth 32-3

Cable jointconnector*1

Secu

re a

t lea

st 1

00

- 0.0

10

0

2-ø3

h7(

)

Dimensional Drawings

Weight (kg) 0.2

*The opening side of the slider is the home position.(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.

Name Externalview Model number Features Maximum number of

positioning pointsInputpower

Power-supply capacity

Standardprice

Reference page

Solenoid Valve TypePMEC-C-20PI- -2- Easy-to-use controller, even for beginners

3 points

AC100VAC200V

Refer to P541 — ➝ P537

PSEP-C-20PI- -2-0 Simple controller operable with the same signal as a solenoid valve

DC24V


Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control,

allowing up to 8 axes to be connected Refer to P572 — ➝ P563

Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type,

allowing up to 8 axes to be connected 256 points

Positioner typeHigh-output specification PCON-CA-20PI- -2-0 Equipped with a high-output driver

Positioner type based on PIO control 512 points

Refer to P618

—

➝ P607Pulse-train typeHigh-output specification PCON-CA-20PI-PL-2-0 Equipped with a high-output driver

Pulse-train input type (—) —

Field network typeHigh-output specification PCON-CA-20PI- -0-0 Equipped with a high-output driver

Supporting 7 major field networks 768 points —

Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI- -2-0 Pulse train input type with differential line

driver support(—)

Refer to P628

—

➝ P623Pulse Train Input Type (Open Collector) PCON-PO-20PI- -2-0 Pulse train input type with open collector

support —

Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points —

Program Control Type PSEL-CS-1-20PI- -2-0 Programmed operation is possible.

Can operate up to 2 axes 1,500 points Refer to P671 — ➝ P665

* This is for the single-axis PSEL. * indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V).* indicates number of axes (1 to 8). * indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.

RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.Applicable Controllers

Appendix

P.15 CAD drawings can be downloaded from the website. www.intelligentactuator.com

2D CAD2D

CAD


375 RCP2-GRLS

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



L

Grip

ping

forc

e (N)


00 10 20 30 40 50 60 70

1

2

3

4

5

6

7



Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options (Unit: degree/s)

Stroke 180 (deg)Deceleration ratio

30 600(per side)


Stroke(deg)

RCP2-GRLS-I-20P-30-180- ➀ - ➁ - ➂ 30 6.4(3.2 per side)

180(90 per side)


Non-motor end specification NM ➝ A-52 —Flange bracket FB ➝ A-43 —Shaft bracket SB ➝ A-55 —


Item DescriptionDrive System Worm gear + helical gear Positioning repeatability ±0.01deg.Backlash 1 degree or less per side (constantly pressed out by a spring)Lost motion 1 degree or lessGuide —Allowable static load moment —Weight 0.2kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)





* 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 L distance up to 40mm.

Stroke

Stroke (deg) Standard price

180 —

Appendix

P.5

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

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

RCP2-GRLS ROBO Cylinder, 2-Finger Gripper, Mini Lever Type, Actuator Width 42mm, Pulse Motor

30: 1/30 deceleration ratio






Deceleration Ratio Stroke Cable length OptionsTypeGRLS

Encoder typeI

Motor type20P


SpecificationItems

180: 180 degrees

(90 degrees per side)


NM: Non-motor endFB: Flange bracketSB: Shaft bracket

30 180


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

Type Cable symbol Standard price


P (1m) —S (3m) —M (5m) —



Cable Length


RCP2-GRLS 376

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



9

9

18

4-M4 through

55

24

66.5

45


8-M3 depth 5




8-M3 depth 5

42

4-M3 depth 5

49 (same for opposite side)

44

8.517

35


17

17

4

9

34

73

15.5

MIN

0º

MA

X 18

0º

36

18

Secu

re a

t lea

st 1

00


+0.03 0 depth 32-ø3

+0.03 0 depth 2.52-ø4 +0.03

0 depth 32-ø3 +0.03 0 depth 3ø3

+0.05 0 depth 33

+0.05 0 depth 32-3

+0.05 0 depth 32-3


Weight (kg) 0.2

*The opening side of the slider is the home position.(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD


377 RCP2-GRS

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



Grip

ping

forc

e (N)


00 10 20 30 40 50 60 70

5

10

15

20

25

30

35


Flange bracket FB ➝ A-43 —Shaft bracket SB ➝ A-55 —


Item DescriptionDrive System Timing belt + trapezoidal screw (1.5 lead)Positioning repeatability ±0.01mmBacklash 0.15mm or less per side (constantly pressed out by a spring)Lost motion 0.1mm or less per sideGuide Cross roller guideAllowable static load moment Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 7.0 N·mWeight 0.36kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)





1 33.3(per side)


Stroke(mm)

RCP2-GRS-I-20P-1-10- ➀ - ➁ - ➂ 1 21(10.5 per side)

10(5 per side)




Stroke


10 —

Appendix

P.5

Cable Length

Type Cable symbol Standard Price

StandardP (1m) —S (3m) —M (5m) —


Robot Cable

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

* See page A-59 for cables for maintenance.

RCP2-GRS ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 69mm, Pulse Motor

1 : 1/1 deceleration ratio





N: None P: 1m S: 3m M: 5mX: Custom LengthR: Robot cable

Deceleration Ratio Stroke Cable length OptionsTypeGRS

Encoder typeI

Motor type20P


SpecificationItems



SB: Shaft bracketFB: Flange bracket

1 10

L2

L1






RCP2-GRS 378

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



MA

X 11

MIN

1


+0.03 0 depth 2.52-ø3

+0.03 0 depth 2.5ø3

+0.05 0 depth 2.52-3

+0.0

5

0

dept

h 2.

53

+0.0

3

0

4

- 0.050

10

30

6871

212-M4 depth 84-M4 depth 6

24


Secu

re a

t lea

st 1

00

4

4-M4 depth 71.5

24

79

29

28



21

3

5

6924 36


Weight (kg) 0.36

*The opening side of the slider is the home position.(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

The holes in the slider shown above, other than tapped holes, are used to install the slider onto the actuator. They cannot be used as finger positioning holes. Use the key slots to position the fingers.

Note:


379 RCP2-GRM

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



00 10 20 30 40 50 60 70

20

40

60

80

100

120

140

Grip

ping

forc

e (N)




Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options (Unit: mm/s)


1 36.7(per side)




Item DescriptionDrive System Timing belt + trapezoidal screw (1.5 lead)Positioning repeatability ±0.01mmBacklash 0.15mm or less per side (constantly pressed out by a spring)Lost motion 0.1mm or less per sideGuide Cross roller guideAllowable static load moment Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 8.3 N·mWeight 0.5kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)


Stroke(mm)

RCP2-GRM-I-28P-1-14- ➀ - ➁ - ➂ 1 80(40 per side)

14(7 per side)





Appendix

P.5

RCP2-GRM ROBO Cylinder, 2-Finger Gripper, Medium Slider Type, Actuator Width 74mm, Pulse Motor






N: None P: 1m S: 3m M: 5mX: Custom LengthR: Robot cable

Deceleration Ratio Stroke Cable length OptionsTypeGRM

Encoder typeI

Motor type28P


SpecificationItems



SB: Shaft bracketFB: Flange bracket

1 14



L2

L1


14 —

Stroke




Robot Cable



Cable Length



RCP2-GRM 380

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



7679

2-M5 depth 8

4-M4 depth 6

11.525

MA

X 15

MIN

1

3574



Secu

re a

t lea

st 1

00

36

3

4

4-M4 depth 81.5

25

7

5

28

24 36


22

24


+0.03 0 depth 2.52-ø3

+0.03 0 depth 2.5ø3

+0.05 0 depth 2.52-3

+0.0

5

0

dept

h 2.

53

+0.0

3

0

5

- 0.050

12


Weight (kg) 0.5

*The opening side of the slider is the home position.(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

The holes in the slider shown above, other than tapped holes, are used to install the slider onto the actuator. They cannot be used as finger positioning holes. Use the key slots to position the fingers.

Note:


381 RCP2-GRST

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard




Item DescriptionDrive System Timing belt + worm/rack gearPositioning repeatability ±0.01mmBacklash 0.2mm or less per sideLost motion —Guide Linear guideAllowable static load moment Ma: 2.93 N·m, Mb: 2.93 N·m, Mc: 5.0 N·mWeight 0.51kg (40-stroke) ~ 0.66kg (100-stroke)Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)


� Leads and Payload � Stroke and Max. Opening/Closing Speed

Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options (Unit: mm/s)

Stroke 40~100(mm)Deceleration ratio

1 75

2 34


Stroke(mm)

RCP2-GRST-I-20P-1- ➀ - ➁ - ➂ - ➃ 1 20(10 per side) 40~100

(every 20mm )RCP2-GRST-I-20P-2- ➀ - ➁ - ➂ - ➃ 2 40

(20 per side)




Appendix

P.5

Cable LengthType Cable symbol Standard price


P (1m) —S (3m) —M (5m) —



Stroke

Stroke(mm) Standard price

40 —60 —80 —

100 —


Non-motor end specification NM ➝ A-52 —Cable exiting from bottom A0 ➝ A-41 —Cable exiting from side A1 ➝ A-41 —

*Be sure to specify the side from which you want the cable to exit (A0 or A1).

RCP2-GRST1: 1/1 deceleration ratio High-Speed Type 2: 1/2 deceleration ratio Standard Type






Deceleration Ratio Stroke Cable length OptionsTypeGRST

Encoder typeI

Motor type20P


SpecificationItems

40 : 40mm 60 : 60mm 80 : 80mm 100 : 100mm


See Options below. * Be sure to specify the side from which you want the cable to exit (A0 or A1).

ROBO Cylinder, 2-Finger Gripper, Long Stroke Slide Type, Actuator Width 130~190mm, Pulse Motor

StandardHigh-Speed Type

00 10 20 30 40 50 60 8070

510152025

4045

3035

Grip

ping

forc

e (N)




L2

L1




RCP2-GRST 382

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



+0.03 0 depth 3ø3

+0.03 0 depth 3ø3

+0.05 0 depth 3ø3

+0.0

5

0de

pth

3ø3

+0.03 0 depth 3ø3

Unlocking screw

19

19

12±0.05

2.5

3 12.5

±0.0

5 4-M3 depth 5

M NL

(0.5)(0.5)

40

stst 6

60

242424.5

28

12.5

25.5

2-M4 depth 6

4

10.5



2−C0.5 2−C0.5

M60

4-M3 depth 5

N

(sam

e fo o

ppos

ite si

de)

26

Cable exit from bottom(Model: A0)

(210

)4

Cable joint connector*1

Cable exiting from side(Model: A1

21.5

28

32Secure at least 100

53.5

33

11

25 0− 0.05

4

* The current position of the slider is the home position.


* The opening side of the slider is the home position.(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

Stroke 40 60 80 100L 130 150 170 190M 71.5 81.5 91.5 101.5N 57.5 67.5 77.5 87.5

Weight (kg) 0.51 0.56 0.61 0.66

�Dimensions and Weight by Stroke


383 RCP2-GRHM

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard






00 10 20

Current limit (% ratio)Gr

ippi

ng Fo

rce (

N)30 40 50 60 70

20406080100120140


L2

L1




Appendix

P.5

➂OptionsName Option code See page Standard price

Cable exit direction (top) CJT ➝ A-42 —Cable exit direction (right) CJR ➝ A-42 —Cable exit direction (left) CJL ➝ A-42 —Cable exit direction (bottom) CJB ➝ A-42 —Flange Bracket FB ➝ A-43 —Shaft bracket SB ➝ A-55 —





2 100(per side)


Stroke(mm)

RCP2-GRHM-I-35P-2-32- ➀ - ➁ - ➂ 2 125(62.5 per side)

32(16 per side)

Stroke


32 —

(*) Based on a 5,000km service life.


Item DescriptionDrive System Timing belt + trapezoidal screw (2 lead)Positioning repeatability ±0.01mmBacklash 0.2mm or less per side (constantly pressed out by a spring)Lost motion 0.15mm or less per sideGuide Linear guideAllowable static load moment (*) Ma: 11.7 N·m, Mb: 16.7 N·m, Mc: 46.5 N·mWeight 1.14kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)

RCP2-GRHM2: Feed screw lead 2


I: Incremental P1: PCON-PL/PO/SE PSELP3: PCON-CA PMEC/PSEP MSEP


Deceleration Ratio Stroke Cable length OptionsTypeGRHM

Encoder typeI

Motor type35P


SpecificationItems



See Options below.

2 32

ROBO Cylinder, 2-Finger Gripper, Medium High-force Type, Actuator Width 116mm, 24V Pulse Motor

➁Cable LengthType Cable symbol Standard price


P (1m) —S (3m) —M (5m) —




RCP2-GRHM 384

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



2-ø4

*ME: Mechanical End

Home

Bottom

Cable Exit Direction (Optional)

Top

Right

Left

Home

ST=16

ST=16

At le

ast 1

00 o

r mor

e

36.5

34.5

30

18

18

0.5

(ME)

634

.544

0.5

(ME)

34.5

3

6

6010

116

40

5

2810

49.5

43

ø4 0+0.012 depth 5 (same on opposite side)2-M5 depth 10 (same on opposite side)

14.8

27.6

61.9 43.1

102105

4 0+0.012 oblong hole, depth (same on opposite side)

34

5

50

4-M5 depth 8

2525

58

ø4 0+0.012 depth 5

40+0

.012

At least 100 or more

56.5 32 16.5

0.5(

ME)

1053 102

6

25

32

0+0.012 depth 5

4-M4, depth 6

oblon

g hole

, dep

th 5

Motor & Encoder Connection*

Home





Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

Weight (kg) 1.14

* Connect the motor-encoder integrated cable here. (See page A-59 for details on cables.)


385 RCP2-GRHB

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard






Appendix

P.5

➁Cable LengthType Cable symbol Standard price


P (1m) —S (3m) —M (5m) —



➂OptionsName Option code See page Standard price

Cable exit direction top) CJT ➝ A-42 —Cable exit direction (right) CJR ➝ A-42 —Cable exit direction (left) CJL ➝ A-42 —Cable exit direction (bottom) CJB ➝ A-42 —Flange Bracket FB ➝ A-43 —Shaft bracket SB ➝ A-55 —





2 100(per side)


Stroke(mm)

RCP2-GRHB-I-42P-2-40- ➀ - ➁ - ➂ 2 200(100 per side)

40(20 per side)

Stroke


40 —


(*) Based on a 5,000km service life.

Item DescriptionDrive System Timing belt + trapezoidal screw (2 lead)Positioning repeatability ±0.01mmBacklash 0.2mm or less per side (constantly pressed out by a spring)Lost motion 0.15mm or less per sideGuide Linear guideAllowable static load moment (*) Ma: 15.7 N·m, Mb: 26.4 N·m, Mc: 59.8 N·mWeight 1.5kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)

RCP2-GRHB2: Feed screw lead 2


I: Incremental P1: PCON-PL/PO/SE PSELP3: PCON-CA PMEC/PSEP MSEP


Deceleration Ratio Stroke Cable length OptionsTypeGRHB

Encoder typeI

Motor type42P


SpecificationItems

40:40mm(20mm per side)


See Options below.

2 40

ROBO Cylinder, 2-Finger Gripper, Large High-force Type, Actuator Width 131mm, 24V Pulse Motor

00 10 20

Current limit (% ratio)Gripping force (N)30 40 50 60 70

50

100

150

200

250



L2

L1




RCP2-GRHB 386

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



49

5

0.5

(ME)

ST=20

ST=20

0.5

(ME)

+0.012

3

440

4

14.8

At le

ast 1

00 o

r mor

e

42 2440

18304-M4, depth 6

2-ø4 0+0.012 depth 5

50

27.6

118115

54.663.4

oblong hole, depth 6 (same on opposite side)

*ME: Mechanical End

7010

5 0

6

50 131

ø5 H7 0+0.012 depth 6 (same on opposite side)

2-M6 depth 12 (same on opposite side)

10

50

40

0.5

(ME)

1181153

25

Home

At least 100 or more

69.5 32 16.5

Top

Right

Bottom

0+0.0

12ob

long h

ole, d

ept 6

38

50

4-M6 depth 10

2525

65.5

30.5

Left

ø5 H7 0+0.012 depth 6

Home

Home 4

6

32

Motor & Encoder Connection*

Cable Exit Direction (Optional)





Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






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

2D CAD2D

CAD

Weight (kg) 1.5

* Connect the motor-encoder integrated cable here. (See page A-59 for details on cables.)

Appendix

P.15


387 RCP2-GR3LS

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



F

F

F

FL

00 10 20 30 40 50 60 70

5

10

15

20

25

30

35

Grip

ping

forc

e P (N

)







Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options (Unit: degrees/s)


30 200


Stroke(deg)

RCP2-GR3LS-I-28P-30-19- ➀ - ➁ - ➂ 30 18(6 per side) 19


(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86.



* The values in the graph below are gripping forces at 10mm gripping point. The actual gripping force decreases inversely proportional to the distance from the opening/ closing point. You can calculate the actual gripping force by the following equation. Actual gripping force (GR3LS) = P × 24 / (L + 14) P = Gripping force on graph L = Distance from finger mounting surface to the gripping point. (Operate with the L1 distance under 50mm.)

Appendix

P.5

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

RCP2-GR3LS ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 62mm, Pulse Motor






N: None P: 1m S: 3m M: 5mX: Custom length R: Robot cable

Deceleration Ratio Stroke Cable length OptionsTypeGR3LS

Encoder typeI

Motor type28P


SpecificationItems

19: 19 degrees


FB: Flange bracketSB: Shaft bracket

30 19




Robot Cable



Cable Length


19 —

Stroke


Item DescriptionDrive System Worm gear + worm wheel gearPositioning repeatability ±0.01 degreesBacklash 1degree or less per side (constantly pressed out by a spring)Lost motion 0.15 degrees or less per sideWeight 0.6kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)


RCP2-GR3LS 388

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



+0.05 0ø3

0 - 0.0

58

+0.03 0 depth 32-ø3

+0.0

5

0

10

+0.05 0

depth 32-3

Flange plug (set screw M4 x 5)

ø 57

ø 57

3-M4 (e�ective depth 6)

3.57.5

2-M3

Details of A

2 0.5

Cable joint connector *1

Secu

re a

t lea

st 1

00

(same for back side)

120°

Mountingsurface

120°

ø 45

11217.5

(129.5)

A

28 84

8


48

62

Mounting surface

4- ø 4.5

62

ø 76

ø 18 96

M8 (e�ective depth 4)

Home

14°

Mounting surface6

125°



24 36

(19)

4-M5 depth 81.5

10

48

50.531.516

4

0 - 0.0

5ø5

9


Weight (kg) 0.6

* When homing, the actuator swings 1 degree past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD


389 RCP2-GR3LM

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard






Item DescriptionDrive System Worm gear + worm wheel gearPositioning repeatability ±0.01 degreesBacklash 1 degree or less per side (constantly pressed out by a spring)Lost motion 0.15 degrees or less per sideWeight 1.1kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)



Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options (Unit: degrees/s)


30 200


Stroke(deg)

RCP2-GR3LM-I-42P-30-19- ➀ - ➁ - ➂ 30 51(17 per side) 19

Appendix

P.5

F

F

F

FL

00 10 20 30 40 50 60 70

10

20

30

40

50

60

70

Grip

ping

forc

e P (N

)

Current Limit (% ratio)* The gripping force graph above shows reference numbers.

Please allow margins up to ± 15%.

�Gripping Force Adjustment The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%.

* The values in the graph below are gripping forces at 10mm gripping point. The actual gripping force decreases inversely proportional to the distance from the opening/ closing point. You can calculate the actual gripping force by the following equation. Actual gripping force (GR3LM) = P × 28.5 / (L + 18.5) P = Gripping force on graph L = Distance from finger mounting surface to the gripping point. (Operate with the L distance up to 80mm.)

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




RCP2-GR3LM ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 80mm, Pulse Motor







Deceleration Ratio Stroke Cable length OptionsTypeGR3LM

Encoder typeI

Motor type42P


SpecificationItems

19: 19 degrees



30 19


19 —

Stroke




Robot Cable



Cable Length


RCP2-GR3LM 390

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



+0.05 0ø3

0 - 0.0

510

0 - 0.0

577

+0.03 0 depth 32-ø3

+0.0

5

0

10

+0.05 0 depth 32-3

4- ø 5.5

80 62

62

ø 75



114

80

ø 98

14.5

7

Mounting surface

Mounting surface

22

(136)


1.5

64

34

18

48

(23.5)

7

14°

40.5

4

127836

A

20Home

5°


(same for back side)4-M6 depth 12 Se

cure

at l

east

100


Mountingsurface

ø 75

4 109

2-M4


120°

120°


ø 62

Details of A

2 0.5

ø 29


Weight (kg) 1.1

* When homing, the actuator swings 1 degree past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

RCP2 ROBO Cylinder

391 RCP2-GR3SS

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard









30 40


Stroke(mm)

RCP2-GR3SS-I-28P-30-10- ➀ - ➁ - ➂ 30 22(7.3 per side) 10

Stroke


10 —

Appendix

P.5

Cable Length




Robot Cable






RCP2-GR3SS ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 62mm, Pulse Motor







Deceleration Ratio Stroke Cable length OptionsTypeGR3SS

Encoder typeI

Motor type28P


SpecificationItems




30 10

Item DescriptionDrive System Worm gear + worm wheel gearPositioning repeatability ±0.01mmBacklash 0.3mm or less per side (constantly pressed out by a spring)Lost motion 0.1mm or less per sideGuide Cross roller guideAllowable static load moment Ma: 3.8 N·m, Mb: 3.8 N·m, Mc: 3.0 N·mWeight 0.6kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)


F

F

F

F

L00 10 20 30 40 50 60 70

5

10

15

20

25

30

35

Grip

ping

forc

e P (N

)



* Operate with the L distance up to 50mm.* The gripping force value in the graph below is when L is at 0 mm. (For gripping force reference per L distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.



RCP2 ROBO Cylinder

RCP2-GR3SS 392

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard





ST5


120°

ø 76

ø 57

1.5

120°

ø 57


ø 45

3-M3 depth 5

53.

5

62

Mounting surface

48

2 0.5

0 - 0.0

56

+0.03 0 depth 32-ø30 - 0

.010

(

)

3- ø

2.5h

7

+0.0

5

0

10

+0.05 0 depth 32-3

0 - 0.0

5ø5

9


Secu

re a

t lea

st 1

00

Mountingsurface

704

40

104

110

A

B

Details of A



424 36

4-M5 depth 82

1045

Mountingsurface 1.5

184 ~

9

4- ø 4.548

62

1.5

15

ø9 counterbore, depth 1.5M8 (e�ective depth 6)

3-M3 depth 5

ø9 counterbore, depth 1.5


ST5

1.5

1853.

5

4 ~ 9

48

62

1.5

15 Home

Details of B


Weight (kg) 0.6

* When homing, the actuator swings 0.5mm past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

RCP2 ROBO Cylinder

393 RCP2-GR3SM

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



Appendix

P.5

F

F

F

F

L00 10 20 30 40 50 60 70

20

40

60

80

100

120

130

Grip

ping

forc

e P (N

)









30 50


Stroke(mm)

RCP2-GR3SM-I-42P-30-14- ➀ - ➁ - ➂ 30 102(34 per side) 14


* Operate with the L distance up to 80mm.* The gripping force value in the graph below is when L is at 0 mm. (For gripping force reference per L distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.

Stroke


14 —




Robot Cable







RCP2-GR3SM ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 80mm, Pulse Motor







Deceleration Ratio Stroke Cable length OptionsTypeGR3SM

Encoder typeI

Motor type42P


SpecificationItems




30 14

Cable Length

Item DescriptionDrive System Worm gear + worm wheel gearPositioning repeatability ±0.01mmBacklash 0.3mm or less per side (constantly pressed out by a spring)Lost motion 0.1mm or less per sideGuide Cross roller guideAllowable static load moment Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 5.7 N·mWeight 1.2kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)


RCP2 ROBO Cylinder

RCP2-GR3SM 394

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



0 - 0.0

58

0 - 0.0

577

+0.03 0 depth 32-ø3

+0.0

5

0

10

+0.05 0 depth 32-3

Home

(same for opposite side)Mounting surface

25

62

80

6280

3-M3 depth 6

ø 98

4- ø 5.5

4 ~

1122

1.5

1.5

87

ø9 counterbore, depth 1.5M8 (e�ective depth 6)

ST7



4-M6 depth 12 MountingsurfaceMounting

surface1.5

5312

7847

Secu

re a

t lea

st 1

00

(same for back side)118

125

2

4

48

A

34


120°

120°


ø 62

Details of A

2 0.5Cable joint connector *1

ø 75 ø 75

0 - 0.0

10(

)3-

ø2.

5h7


Weight (kg) 1.2

* When homing, the actuator swings 0.5mm past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

RCS2 ROBO Cylinder

395 RCS2-GR8

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



AppendixP.5

➃OptionsName Option code See page Standard price

CE compliance CE ➝ A-42 —


� Lead and Payload

Code explanation ➀ Stroke ➁ Applicable controller ➂ Cable length ➃ Options (Note 1) The value of allowable load at a stop(Note 2) The value of allowable load when fingers are traveling

Model number Motor Output(W)

Deceleration Ratio

Gripping force at a stop(N) (Note 1)

Rated gripping force at a travel(N) (Note 2)

Stroke(mm)

RCS2-GR8-I-60-5- ➀ - ➁ - ➂ - ➃ 60 1/5 22.5(11.25 per side)

31.3(15.65 per side) 20, 40, (60), (80), 100, (120), (200)

Stroke


20 —40 —

(60) —(80) —100 —

(120) —(200) —

➂Cable Length




Robot Cable



(1) Stroke values enclosed in "( )" are (60, 80, 120, 200) are semi-standard models.(2) The maximum gripping force is the sum of both fingers.


Item DescriptionDrive System Rack and pinionPositioning repeatability ±0.04mmLost motion 0.7mm or less per sideBase Material: Aluminum, white alumite treatedAllowable static load moment Ma: 5.1 N·m, Mb: 5.1 N·m, Mc: 10.4 N·mAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)

* Please note that, when gripping (pressing), the speed is fixed at 10mm/s

*CE compliance is optional.

5: 1/560: 60W Servo motor

I: Incremental T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S


Deceleration Ratio Stroke Cable length OptionsTypeGR8

Encoder typeI

Motor type60


SpecificationItems

20: 20mm 40: 40mm (60): 60mm (80): 80mm 100: 100mm (120): 120mm (200): 200mm * See page Pre-47 for details on the model descriptions.

See Options below.

5

RCS2-GR8 ROBO Cylinder, 2-Finger Gripper, Long Stroke Slider Type, Actuator Width 104 ~ 284mm, 200V servo Motor

RCS2 ROBO Cylinder

RCS2-GR8 396

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



(300)Cable jointconnector*1

Details of the T-slot for mounting actuator

T-slot for mounting the actuator

2-M4

(Note 1)

6-M4 effective

depth (per side)

Secure at least 100

27

61

52

62

56

225

110054

8

75 4514

.5B

BA

15 28

13.5

995

27

2

27

70

1515

66

(C)DE

16

28.013.5

6.0

3.0

10.36.3

2

10.410



2D CAD2D

CAD

AppendixP.15



Power supply capacity

Standardprice

Reference page

Positioner mode

SCON-CA-60I-NP-2-

Up to 512 positioning points are supported.

512 points

Single-phase 100VAC

Single-phase 200VAC

3-phase 200VAC

(XSEL-P/Q/R/S ONLY)

218 VA max.

* Power supply capacity will vary depending on the controller, so please refer to the instruction manual for details.

—

➝ P643

Solenoid valve mode

Actuators can be operated through the same control used for solenoid valves.

7 points

Field network type

Movement by numerical specification is supported. 768 points —

Pulse-train input control

type

Dedicated pulse-train input type (–) —

Positioner multi-axis,

network typeMSCON-C-1-60- -0-

Up to 6 axes can be operated. Movement by numerical specification is supported.

256 points — ➝ P655

Program control type,

1 to 2 axesSSEL-CS-1-60I-NP-2- Program operation is supported.

Up to 2 axes can be operated. 20,000 points — ➝ P685


1 to 8 axesXSEL- -1-60I-N1-EEE-2- Program operation is supported.

Up to 8 axes can be operated.

Varies depending on the number of axis connected

— ➝ P695

RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.

Applicable Controllers

* This is for the single-axis MSCON, SSEL, and XSEL. * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V).* indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V / 3: Three-phase 200 V).* indicates field network specification symbol.

* The opening side of the slider is the home position.

Stroke 20 40 (60) (80) 100 (120) (200)A 22 42 62 82 102 122 202B 10 20 30 40 50 60 100C 106.4 126.4 146.4 166.4 186.4 206.4 286.4D 104 124 144 164 184 204 284E 100 120 140 160 180 200 280

Weight (kg) 1.8 1.9 1.9 2.0 2.0 2.1 2.3

�Dimensions and Weight by Stroke

*1 The strokes enclosed in "( )" are semi-standard configurations, and will require longer delivery time.

(*1) Connect the motor and encoder cables here. See page A-59 for details on cables. (Note 1) The number of tapped holes on the finger mounting plate is for one side. In addition, by default, each finger is secured using 2 tapped holes

RCP2 ROBO Cylinder

397 RCP2-RTBS/RTBSL

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



0.000 100 200 300 40050 150 250 350 450

0.050.100.150.200.250.300.350.400.450.50

00.51

21.5

32.5

3.5

4.54

5

0 100 200 300 40050 150 250 350 450

0.36

2.3

0.24

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )

Rotational speed (deg/sec)


Deceleration ratio 1/30




0.000 100 200 300 40050 150 250 350 450

0.050.100.150.200.250.300.350.400.450.50

00.51

21.5

32.5

3.5

4.54

5

0 100 200 300 40050 150 250 350 450

0.36

2.3

0.24

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )








Reversed-rotation NM ➝ A-52 —Shaft adapter SA ➝ A-54 —Table adapter TA ➝ A-56 —

Appendix

P.5

(1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to see whether the speed required for your desired motion is supported.

(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range.

(3) The rated acceleration while moving is 0.2G.(4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple

rotation type.


Item DescriptionDrive System Hypoid gearPositioning repeatability ±0.05 degreesHoming accuracy ±0.05 degrees Lost motion ±0.1 degreesAllowable thrust load 30NAllowable load moment 3.6 N·mWeight 0.52kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)

RCP2-RTBS/RTBSL ROBO Cylinder, Rotary, Small Vertical Type, Actuator Width 45mm, Pulse Motor

30 : 1/30 deceleration ratio 45 : 1/45 deceleration ratio





N: None P: 1m S: 3m M: 5mX: Custom length

Deceleration Ratio Oscillation Angle Cable length OptionsType Encoder typeI

Motor type20P

SeriesRCP2Model

SpecificationItems


Applicable controllerNM: Non-motor end SA: Shaft adapter TA: Table adapter

RTBS: 330-deg rotation RTBSL: Multiple rotation

330: 330-degrees (RTBS only) 360: 360-degrees (RTBSL only)


� Leads and Payload �Deceleration Ratio and Max. Speed

Model number Deceleration Ratio

Max. Torque(N ∙ m)

Allowable Movement of Inertia (kg ∙ m2)

OscillationAngle (deg)

RCP2-RTBS-I-20P-30-330- ➀ - ➁ - ➂ 1/30 0.24 0.0023330

RCP2-RTBS-I-20P-45-330- ➀ - ➁ - ➂ 1/45 0.36 0.0035

RCP2-RTBSL-I-20P-30-360- ➀ - ➁ - ➂ 1/30 0.24 0.0023360

RCP2-RTBSL-I-20P-45-360- ➀ - ➁ - ➂ 1/45 0.36 0.0035

Code explanation Applicable Controller ➁ Cable Length ➂ Options

(Unit: degrees/s)

Stroke 330/360 (deg)Deceleration ratio

1/30 400

1/45 266

n Speed vs. Load CapacityDue to the characteristics of the pulse motor, the RCP2 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.



P (1m) —S (3m) —M (5m) —



Cable Length

Type Oscillation Angle(deg) Standard price

RTBS 330 —RTBSL 360 —

Stroke

RCP2 ROBO Cylinder

RCP2-RTBS/RTBSL 398

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



4-M3 depth 5.5

(20)48 Secure at least 100

4

(11)

1139

27


4-M3 depth 7

4-M3 depth 3.5

5.5

7.5

26

22

3645

21.8

72

ø13

11.6

67

17.5

68.570

45

(6)

633

4

12

61

48

12.512.5

(25) (35.5)

4-M3 depth 5.5

0- 0.025( )ø36 h7

- 0.020- 0.007( )ø20 g6

0 depth+0.010( )ø3 H7 4

0+0.15( )ø7 H7 depth 7.5

+0.02 0 depth 2.5ø3

+0.0

5

0

dept

h 4

4

+0.02 0 depth 2.5ø3

+0.04 0 depth 2.53

+0.04 0 depth 2.53


Weight (kg) 0.52




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

The position shown in the top view of the drawing is the home position for both the standard type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse rotation type will move clockwise during homing and then moves counter clockwise afterward. Please be aware that the homing direction cannot be changed after shipment.Please refer to the Appendix for the details.

Note:

* In the 2D drawing on the left, the shaded area indicates the rotating part.

Note:

(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.


399 RCP2-RTCS/RTCSL

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



0.000 100 200 300 40050 150 250 350 450

0.050.100.150.200.250.300.350.400.450.50

00.51

21.5

32.5

3.5

4.54

5

0 100 200 300 40050 150 250 350 450

0.36

2.3

0.24

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )







0.000 100 200 300 40050 150 250 350 450

0.050.100.150.200.250.300.350.400.450.50

00.51

21.5

32.5

3.5

4.54

5

0 100 200 300 40050 150 250 350 450

0.36

2.3

0.24

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )









Stroke


RTCS 330 —RTCSL 360 —


Appendix

P.5




rotation type.


Item DescriptionDrive System Hypoid gearPositioning repeatability ±0.05 degreesHoming accuracy ±0.05 degreesLost motion ±0.1 degreesAllowable thrust load 30NAllowable load moment 3.6 N·mWeight 0.48kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)

Cable Length



P (1m) —S (3m) —M (5m) —



RCP2-RTCS/RTCSL ROBO Cylinder, Rotary, Small Flat Type, Actuator Width 72mm, Pulse Motor






N: None P: 1m S: 3m M: 5mX: Custom length


Motor type20P

SeriesRCP2Model

SpecificationItems



RTCS: 330-deg rotation RTCSL: Multiple rotation

330: 330-degrees (RTCS only) 360: 360-degrees (RTCSL only)







RCP2-RTCS-I-20P-30-330- ➀ - ➁ - ➂ 1/30 0.24 0.0023330

RCP2-RTCS-I-20P-45-330- ➀ - ➁ - ➂ 1/45 0.36 0.0035

RCP2-RTCSL-I-20P-30-360- ➀ - ➁ - ➂ 1/30 0.24 0.0023360

RCP2-RTCSL-I-20P-45-360- ➀ - ➁ - ➂ 1/45 0.36 0.0035


(Unit: degrees/s)


1/30 400

1/45 266


RCP2-RTCS/RTCSL 400

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



8

4

0- 0.025( )ø36 h7

- 0.020- 0.007( )ø20 g6

0 depth+0.010( )ø3 H7 4

0+0.015( )ø7 H7 depth 7.5

+0.02 0 depth 2.53

+0.05

0de

pth 4

4

+0.02 0 depth 2.5ø3

+0.04 0 depth 2.53

+0.04 0 depth 2.53

Secure at least 10011.6 17

.5

68

45 43.5

42

22(7

)7

4-M3 depth 7

4-M3 depth 3.5 4-M3 depth 5.5

34

48

29


7.5

26

36

22

36

48 4-M3 depth 5.5

ø11 depth 0.9

hollow hole ø6 through-hole

12

21.8

72

27

22.5

5.5

ø13 4


Weight (kg) 0.48

(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD


Note:


Note:

RCP2 ROBO Cylinder

401 RCP2-RTB/RTBL

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



00 100 200 300 400 500 600 700

0.5

1

1.5

2

2.5

3

3.5

00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

0.85

0.55

7.5

5

0.85

0.55

7.5

1.7

1.1

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )







Allowable moment of inertia

Output torque

5

00 100 200 300 400 500 600 700

0.5

1

1.5

2

2.5

3

3.5

00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

0.85

0.55

7.5

5

0.85

0.55

7.5

1.7

1.1

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )








Output torque

5



Stroke


RTB 330 —RTBL 360 —


Appendix

P.5




rotation type.


Item DescriptionDrive System Hypoid gearPositioning repeatability ±0.01 degrees Homing accuracy ±0.01 degrees (RTB) / ±0.05 (RTBL)Lost motion ±0.1 degreesAllowable thrust load 50NAllowable load moment 3.9 N·mWeight 0.86kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)


� Leads and Payload





RCP2-RTB-I-28P-20-330- ➀ - ➁ - ➂ 1/20 1.1 0.01330

RCP2-RTB-I-28P-30-330- ➀ - ➁ - ➂ 1/30 1.7 0.015

RCP2-RTBL-I-28P-20-360- ➀ - ➁ - ➂ 1/20 1.1 0.01360

RCP2-RTBL-I-28P-30-360- ➀ - ➁ - ➂ 1/30 1.7 0.015

�Deceleration Ratio and Max. Speed

(Unit: degrees/s)


1/20 600

1/30 400


Cable Length





Robot Cable


RCP2-RTB/RTBL ROBO Cylinder, Rotary, Medium Vertical Type, Actuator Width 50mm, Pulse Motor








Motor type28P

SeriesRCP2Model

SpecificationItems



RTB: 330-deg rotation RTBL: Multiple rotation

330: 330-degrees (RTB only) 360: 360-degrees (RTBL only)

RCP2 ROBO Cylinder

RCP2-RTB/RTBL 402

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



+0.03 0 depth 2.5ø4

+0.05

0

dept

h 34

+0.03 0 depth 2.5ø4

+0.05 0 depth 2.54

+0.05 0 depth 2.54

4-M4 depth 8

4-M4 depth 7

34

56

(10)

(28)

5-M3 depth 6

Secure at least 100

52

6

5

9

3088

26.5

ø24h7

ø3H7 depth 437

ø45h7

ø11H7 depth 10


42

(34)

56

34

5

5.5

(5.5

)

2212

71

ø17

39

4-M4 depth 8

778283.5

50


Weight (kg) 0.86

(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.

* The bend radius R of the cable is the same as other models.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

* In the 2D drawing below, the shaded area indicates the rotating part.

Note:The position shown in the top view of the drawing is the home position for both the standard type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse rotation type will move clockwise during homing and then moves counter clockwise afterward. Please be aware that the homing direction cannot be changed after shipment.Please refer to the Appendix for the details.

Note:

RCP2 ROBO Cylinder

403 RCP2-RTC/RTCL

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



00 100 200 300 400 500 600 700

0.5

1

1.5

2

2.5

3

3.5

00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

0.85

0.55

7.5

5

0.85

0.55

7.5

1.7

1.1

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )








Output torque

5

00 100 200 300 400 500 600 700

0.5

1

1.5

2

2.5

3

3.5

00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

0.85

0.55

7.5

5

0.85

0.55

7.5

1.7

1.1

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )








Output torque

5



Stroke


RTC 330 —RTCL 360 —


Appendix

P.5




rotation type.


Item DescriptionDrive System Hypoid gearPositioning repeatability ±0.01 degrees Homing accuracy ±0.01 degrees (RTC) / ±0.05 (RTCL)Lost motion ±0.1 degreesAllowable thrust load 50NAllowable load moment 3.9 N·mWeight 0.92kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)







RCP2-RTC-I-28P-20-330- ➀ - ➁ - ➂ 1/20 1.1 0.01330

RCP2-RTC-I-28P-30-330- ➀ - ➁ - ➂ 1/30 1.7 0.015

RCP2-RTCL-I-28P-20-360- ➀ - ➁ - ➂ 1/20 1.1 0.01360

RCP2-RTCL-I-28P-30-360- ➀ - ➁ - ➂ 1/30 1.7 0.015

(Unit: degrees/s)


1/20 600

1/30 400


Cable Length





Robot Cable


RCP2-RTC/RTCL ROBO Cylinder, Rotary, Medium Flat Type, Actuator Width 88mm, Pulse Motor








Motor type28P

SeriesRCP2Model

SpecificationItems



RTC: 330-deg rotation RTCL: Multiple rotation

330: 330-degrees (RTC only) 360: 360-degrees (RTCL only)

RCP2 ROBO Cylinder

RCP2-RTC/RTCL 404

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



+0.03 0 depth 2.5ø4

+0.05

0de

pth 3

4

+0.03 0 depth 2.5ø4

+0.05 0 depth 2.54

+0.05 0 depth 2.54

37

Secure at least 100


4-M4 depth 8

4456

357.

5

5

4-M4 depth 7

25

3088

6

26.5ø3H7 depth 45-M3 depth 6

ø24h7ø45h7

4-M4 depth 8

5581

53.5

42

46

ø11H7 depth 10

52

34

5

56

ø15.4 depth 5.5hollow hole ø10 through-hole

6

ø17

34


Weight (kg) 0.92


* The bend radius R of the cable is the same as other models.




Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD

* In the 2D drawing on the right, the shaded area indicates the rotating part.

Note:


Note:


405 RCP2-RTBB/RTBBL

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



00 100 200 300 400 500 600 700

2.02.53.0

0.51.01.5

3.54.04.55.0

00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

40

4.64.6

1.731.13

11.3

1.73

11.37.5

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )







00 100 200 300 400 500 600 700

2.02.53.0

0.51.01.5

3.54.04.55.0

00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

40

4.64.6

1.731.13

11.3

1.73

11.37.5

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )










Appendix

P.5




rotation type.


Item DescriptionDrive System Hypoid gearPositioning repeatability ±0.01 degrees Homing accuracy ±0.01 degrees (RTBB) / ±0.03 (RTBBL)Lost motion ±0.1 degreesAllowable thrust load 200NAllowable load moment 17.7 N·mWeight 2.3kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)







RCP2-RTBB-I-35P-20-330- ➀ - ➁ - ➂ 1/20 3.0 0.02330

RCP2-RTBB-I-35P-30-330- ➀ - ➁ - ➂ 1/30 4.6 0.03

RCP2-RTBBL-I-35P-20-360- ➀ - ➁ - ➂ 1/20 3.0 0.02360

RCP2-RTBBL-I-35P-30-360- ➀ - ➁ - ➂ 1/30 4.6 0.03

(Unit: degrees/s)


1/20 600

1/30 400


RCP2-RTBB/RTBBL ROBO Cylinder, Rotary, Large Vertical Type, Actuator Width 76mm, Pulse Motor








Motor type35P

SeriesRCP2Model

SpecificationItems



RTBB: 330-deg rotation RTBBL: Multiple rotation

330: 330-degrees (RTBB only) 360: 360-degrees (RTBBL only)

Stroke


RTBB 330 —RTBBL 360 —





Robot Cable


Cable Length


RCP2-RTBB/RTBBL 406

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



+0.05 0 depth 3.5ø5

+0.0

5

0de

pth

55

+0.05 0 depth 3.5ø5

+0.05 0 depth 3.55

+0.05 0 depth 3.55


ø30

54

43 38.5

124

76 54

4-M5 depth 8.6

4-M5 depth 10

7

55 1616

63

6-M4 depth 7

(40.5)78.5

6

Secure at least 100

76

78.5

103

(9.5

)

95105

107

ø14

34 34

(68) (44.5)

14.5

9.5

57

6 4-M5 depth 10

0- 0.030( )ø65 h7

- 0.025- 0.009( )ø40 g6

0+0.021( )ø21 H7 depth 12.5

0+0.012( )ø4 H7 depth 5


Weight (kg) 2.3





Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD


Note:


Note:


407 RCP2-RTCB/RTCBL

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



00 100 200 300 400 500 600 700

2.02.53.0

0.51.01.5

3.54.04.55.0

00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

40

4.64.6

1.731.13

11.3

1.73

11.37.5

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )







00 100 200 300 400 500 600 700

2.02.53.0

0.51.01.5

3.54.04.55.0

00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

40

4.64.6

1.731.13

11.3

1.73

11.37.5

Out

put t

orqu

e (N

•m)

Allo

wab

le m

omen

t of

iner

tia (×

10-3

kg•

m2 )









Stroke


RTCB 330 —RTCBL 360 —


Appendix

P.5




rotation type.







RCP2-RTCB-I-35P-20-330- ➀ - ➁ - ➂ 1/20 3.0 0.02330

RCP2-RTCB-I-35P-30-330- ➀ - ➁ - ➂ 1/30 4.6 0.03

RCP2-RTCBL-I-35P-20-360- ➀ - ➁ - ➂ 1/20 3.0 0.02360

RCP2-RTCBL-I-35P-30-360- ➀ - ➁ - ➂ 1/30 4.6 0.03

(Unit: degrees/s)


1/20 600

1/30 400


Cable Length





Robot Cable


RCP2-RTCB/RTCBL ROBO Cylinder, Rotary, Large Flat Type, Actuator Width 124mm, Pulse Motor








Motor type35P

SeriesRCP2Model

SpecificationItems



RTCB: 330-deg rotation RTCBL: Multiple rotation

330: 330-degrees (RTCB only) 360: 360-degrees (RTCBL only)

Item DescriptionDrive System Hypoid gearPositioning repeatability ±0.01 degrees Homing accuracy ±0.01 degrees (RTCB) / ±0.03 (RTCBL)Lost motion ±0.1 degreesAllowable thrust load 200NAllowable load moment 17.7 N·mWeight 2.2kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)



RCP2-RTCB/RTCBL 408

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



6

+0.05 0 depth 3.5ø5

+0.0

5

0de

pth

55

+0.05 0 depth 3.55

+0.05 0 depth 3.5ø5

+0.05 0 depth 3.55


- 0.030( )ø65 h7- 0.025- 0.009( )ø40 g6

0+0.021( )ø21 H7 depth 12.5

0+0.012( )ø4 H7 depth 5 78.5

1154

54

Secure at least 100

4-M5 depth 10

14.5

7

54

38.543

38

54

ø 14

114

124

4-M5 depth 8.6

6-M4 depth 7

ø30

78.5

68

64 408

6668

4-M5 depth 10

hollow hole ø20 through-hole

ø27 depth 3.5

56


Weight (kg) 2.2





Standardprice

Reference page


3 points

AC100VAC200V



DC24V








Refer to P618

—






driver support(—)

Refer to P628

—


support —






Appendix


2D CAD2D

CAD


Note:


Note:

RCS2 ROBO Cylinder

409 RCS2-RTC8L/RTC8HL

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



AppendixP.5



Brake B ➝ A-42 —CE compliance CE ➝ A-42 —Limit switch (standard feature) L ➝ A-51 —Reversed-rotation NM ➝ A-52 —

(1) The rated and maximum acceleration is 0.3G.(2) Positioning mode can move between 0 to 9,999.99 deg (0 to 7,670.99

deg with reduction ratio of 1/24). Index rotation mode can move from 0 to 359.99 deg. (Once the

actuator moves beyond 359.99 deg, it resets to 0 without having to rotate back to home.)

(3) Actuator may vibrate as it moves if the speed is lower than 100 deg/s. Please drive the unit at or above 100mm/s.

Cable Length





Robot Cable


RCS2-RTC8L ROBO Cylinder, Hollow Rotary, Small Standard Type, Actuator Width 85mm, 200V servo Motor

RCS2-RTC8HL ROBO Cylinder, Hollow Rotary, Small High Output Type, Actuator Width 85mm, 200V servo Motor


12: 12W Servo motor20: 20W Servo motor

I : Incremental A : Absolute

T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S


Deceleration Ratio Oscillation Angle Cable length OptionsType Encoder type Motor typeSeriesRCS2Model

SpecificationItems


Applicable controllerT2

See Options below.

360

RTC8L: Small standard type RTC8HL: Small high output type

360: 360-degrees (multiple rotation)



Model number MotorOutput (N)

Deceleration Ratio




RCS2-RTC8L- ➀ -12-24-360-T2- ➁ - ➂ 12 1/24 0.55 0.011

360 (*)RCS2-RTC8HL- ➀ -20-15-360-T2- ➁ - ➂

201/15 0.53 0.01

RCS2-RTC8HL- ➀ -20-24-360-T2 ➁ - ➂ 1/24 0.85 0.017 (Unit: degrees/s)


1/15 1200

1/24 750

Code explanation Encoder type ➁ Cable length ➂ Options * Refer to "POINT Notes on Selection" above.

Encoder Type

TypeStandard priceEncoder Type

Incremental AbsoluteRTC8L — —RTC8HL — —

Item DescriptionDrive System Timing belt drive system + hypoid gearPositioning repeatability ±0.005 degrees Backlash ±0.05 degrees or lessAllowable thrust load 400NAllowable load moment 5 N·mBrake retention torque 0.42 N·mWeight 2.3kgAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)


RCS2 ROBO Cylinder

RCS2-RTC8L/RTC8HL 410

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



*1 Table surface circular runout*2 Table parallelism*3 Table outer diameter runout

Mark of origin (conical hole)

Cable jointconnector*

Details of section A

4-M5 Depth 10

68

5

*88.5(RTC8L)*103.5(RTC8HL)

ø30 (Thru hole)

ø60 h7

4

77

14.5

636

443

ø4 Depth 3.5 +0.05 0

4 Depth 3.5 +0.05 0

4 Depth 4 +0.05 0

4 Depth 3.5 +0.05 0

ø42 H7 +0.025 0

0-0.030

A

A

*1*3

*20.030.05

0.04

*135 (RTC8L)(2)

(2)

*150 (RTC8HL)

*103.5 (RTC8HL)*88.5 (RTC8L)

*103.5 (RTC8HL)*88.5 (RTC8L)

44.5

25 25

A

6-M4 Depth6

4-M5 Depth10

4-M5 Depth10

2-ø4 H7 +0.010 0 Depth5

4 Depth 3.5 +0.05 0

5

5

(8)

69(8

)

8530

5.5 60°60°

6816.56

44

(Maximum screw-in depth 9) 4 Depth 4 +0.05 0

10.5 100 or higher must be retained

56

ø52

ø14


AppendixP.15


2D CAD2D

CAD

* The shaded area in the top view shows the rotation area.

Caution




Standardprice

Reference page

Positioner mode

SCON-CA-12 -NP-2-SCON-CA-20 -NP-2-


512 points

Single-phase 100VAC

Single-phase 200VAC

3-phase 200VAC

(XSEL-P/Q/R/S ONLY)

106 VA max.


—

➝ P643

Solenoid valve mode


7 points

Field network type



type

Dedicated pulse-train input type (—) —


network type

MSCON-C-1-12 - -0-MSCON-C-1-20 - -0-


256 points — ➝ P655


1 to 2 axes

SSEL-CS-1-12 -NP-2-SSEL-CS-1-20 -NP-2-

Program operation is supported. Up to 2 axes can be operated. 20,000 points — ➝ P685


1 to 8 axes

XSEL- -1-12 -N1-EEE-2-XSEL- -1-20 -N1-EEE-2-

Program operation is supported. Up to 8 axes can be operated.

Varies depending on the number of axes connected

— ➝ P695



* This is for the single-axis MSCON, SSEL, and XSEL. * indicates the encoder type (I: Incremental / A: Absolute).* indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the XSEL type (J / K / P / Q / R / S).* indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200V / 3: Three-phase 200V). * indicates field network specification symbol.

* Connect the motor and encoder cables here. (See page A-59 for details on cables.)

The position in the detail A drawing above is the homing location for both standard type/reversed rotation type (Option "-NM" ). Looking from the above, the standard type will rotate counter clockwise during homing, and it moves clockwise afterward. Reverse rotation type will move clockwise during homing and moves counter clockwise afterward.

Note:

RCS2 ROBO Cylinder

411 RCS2-RTC10L

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard




Brake B ➝ A-42 —CE-compliant specification CE ➝ A-42 —Limit switch (standard) L ➝ A-51 —Reversed-rotation NM ➝ A-52 —

Cable Length





Robot Cable



AppendixP.5

Encoder Type


Incremental AbsoluteRTC10L — —



Model number Motor Output (W)

Deceleration Ratio




RCS2-RTC10L- ➀ -60-15-360-T2- ➁ - ➂60

1/15 1.7 0.033360 (*)

RCS2-RTC10L- ➀ -60-24-360-T2- ➁ - ➂ 1/24 2.8 0.054

* Refer to "POINT Notes on Selection" above.


1/15 1200

1/24 750

Code explanation Encoder type ➁ Cable length ➂ Options (Unit: degrees/s)


60: 60W Servo motor




Deceleration Ratio Oscillation Angle Cable length OptionsTypeRTC10L

Encoder type Motor type60

Applicable controllerSeriesRCS2Model

SpecificationItems



See Options below.

RCS2-RTC10L Robo Cylinder, Hollow Rotary, Medium Type, Actuator Width 99mm, 200V Servo Motor

360 T2

RTC10L: Medium type

(1) The rated and maximum acceleration is 0.3G. (2) Positioning mode can move between 0 to 9,999.99 deg (0 to 7,670.99






RCS2 ROBO Cylinder

RCS2-RTC10L 412

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



22.5° 22.5°



Details of section A

4 Depth 4 +0.05 0

4 Depth 4 +0.05 0

4-M5 Depth10

5

(7)

85(7

)

100 or higher must be retained

60116.5

Dimensions of mounting holes on the side are bilaterally symmetric.

2-ø4 H7 +0.010 0 Depth5

A8-M4 Depth 6

(2.5)(2.5)

17152

30 30

9931

10.5

ø60

*30.04

A

A

*1*2

0.030.05

34

86 72 52

14.5

7

116.575

ø14

ø70 h7 0-0.030

ø52 h7 +0.030 0

ø40 (Thru hole)2-4 (Both front and back) +0.05

0

2-4 Depth 4 +0.05 0

8-M5 Depth 10 (Both front and back)


(Both front and back)

5



2D CAD2D

CAD




Standardprice

Reference page

Positioner mode

SCON-CA-60 -NP-2-


512 points

Single-phase 100VAC

Single-phase 200VAC

3-phase 200VAC

(XSEL-P/Q/R/S ONLY)

218 VA max.


—

➝ P643

Solenoid valve mode


7 points

Field network type



type



network typeMSCON-C-1-60 - -0-


256 points — ➝ P655


1 to 2 axesSSEL-CS-1-60 -NP-2- Program operation is supported.



1 to 8 axesXSEL- -1-60 -N1-EEE-2- Program operation is supported.



— ➝ P695




AppendixP.15


Caution


Note:


RCS2 ROBO Cylinder

413 RCS2-RTC12L

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard




Brake B ➝ A-42 —CE-compliant specification CE ➝ A-42 —Limit switch (standard) L ➝ A-51 —Reversed-rotation NM ➝ A-52 —

Cable Length





Robot Cable



Encoder Type


Incremental AbsoluteRTC12L — —



Model number Motor Output (W)

Deceleration Ratio




RCS2-RTC12L- ➀ -150-18-360-T2- ➁ - ➂150

1/18 5.2 0.1360 (*)

RCS2-RTC12L- ➀ -150-30-360-T2- ➁ - ➂ 1/30 8.6 0.17

* Refer to "POINT Notes on Selection" above.


1/18 800

1/30 600

Code explanation Encoder type ➁ Cable length ➂ Options (Unit: degrees/s)

RCS2-RTC12L Robo Cylinder, Hollow Rotary, Large Type, Actuator Width 123mm, 200V Servo Motor

150: 150W Servo motor

Deceleration Ratio Oscillation Angle Cable length OptionsTypeRTC12L


SeriesRCS2Model

SpecificationItems





See Options below.18 : 1/18 deceleration ratio 30 : 1/30 deceleration ratio


Applicable controllerT2360

RTC12L: Large type



(1) The rated and maximum acceleration is 0.3G. (2) Positioning mode can move between 0 to 9,999.99 deg (0 to 6,140.99




AppendixP.5

RCS2 ROBO Cylinder

RCS2-RTC12L 414

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



6




Details of section A166.5

110

2-5 Depth 4 +0.05 0 (Both front and back)

ø54 (Thru hole) 2-5 (Both front and back) +0.05 0

2ø5 H7 Depth 6 +0.012 0

8-M6 Depth 12 (Both front and back)

ø90 h7 0-0.030

ø66 h7 +0.030 0

3

92 78 549

14.5

4

ø14

A

A

*1*2

0.030.05

*30.04

(2.5) (2.5)233

3113

.512

3

6422.5° 22.5°

ø80

8-M5 Depth 8 40 40A

Dimensions of mounting holes on the side are bilaterally symmetric.

108

95

166.5

6

(7.5

)(7

.5)

100 or higher must be retainedø5 Depth 4 +0.05

0

ø5 Depth 4 +0.05 04-M6 Depth12



2D CAD2D

CAD




Standardprice

Reference page

Positioner mode

SCON-CA-150 -NP-2-


512 points

Single-phase 100VAC

Single-phase 200VAC

3-phase 200VAC

(XSEL-P/Q/R/S ONLY)

408 VA max.


—

➝ P643

Solenoid valve mode


7 points

Field network type



type



network typeMSCON-C-1-150 - -0-


256 points — ➝ P655


1 to 2 axesSSEL-CS-1-150 -NP-2- Program operation is supported.



1 to 8 axesXSEL- -1-150 -N1-EEE-2- Program operation is supported.



— ➝ P695




AppendixP.15


Caution


Note:


RCS2 ROBO Cylinder

415 RCS2-RT6

Mini

Mini

Mini

SliderType

RodType

Table/Arm/

Flat Type

Linear ServoType

Gripper/Rotary

Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



AppendixP.5


CE compliance CE ➝ A-42 —Limit switch (standard) L ➝ A-51 —

Stroke

Oscillation Angle (deg) Standard price

300 —

Cable Length




Robot Cable



(1) The thrust load is the mechanical strength of the output axis at rest. When selecting, take into account the load moment and the load inertia.



Item DescriptionDrive System Ball speed reducerPositioning repeatability ±0.02 degreesLost motion 0.1degrees or lessBase Material: Aluminum, white alumite treatedAllowable load moment Ma: 6.8 N·m or lessThrust load 100N or lessAmbient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)



� Lead and Payload �Deceleration Ratio and Max. Speed

Model numberMotor Output

(W)Deceleration

RatioRated Torque

(N•m)Allowable Moment

of Inertia (kg•m2)Oscillation Angle (deg)

RCS2-RT6-I-60-18-300- ➀ - ➁ - ➂ -L 60 1/18 2.4 2.5 x 10-2 or less 300


Oscillation Angle 300 (deg)Deceleration ratio

1/18 500

RCS2-RT6 Robo Cylinder, Rotary, Straight Motor Model, Actuator Width 64mm, 200V Servo Motor

60: 60W Servo motor

Deceleration Ratio Oscillation Angle Cable length OptionsTypeRT6


SeriesRCS2Model

SpecificationItems


T1: XSEL-J/K T2: SCON SSEL XSEL-P/Q XSEL-R/S

I : Incremental N: None P: 1m S: 3m M: 5mX: Custom length R: Robot cable

See Options below.18 : 1/18 300: 300-degrees

Applicable controller300I 18 L

RCS2 ROBO Cylinder

RCS2-RT6 416

Mini

Mini

Mini

SliderType

RodType

Table/Arm/Flat Type

Linear ServoType

Gripper/Rotary Type

Clean-room Type

Splash-ProofType

Pulse Motor

Servo Motor (24V)

Servo Motor (200V)

LinearServo Motor

Standard

Standard

Standard



Secure atleast 40

(13.3)

101

4-M6 depth 12

ø40

h7ø1

2 h7

6450

6450

(200)

2715

12

234.530 103.5

5041.5525




2D CAD2D

CAD

AppendixP.15




Standardprice

Reference page

Positioner mode

SCON-CA-60I-NP-2-


512 points

Single-phase 100VAC

Single-phase 200VAC

3-phase 200VAC

(XSEL-P/Q/R/S ONLY)

218 VA max.


—

➝ P643

Solenoid valve mode


7 points

Field network type



type

Dedicated pulse-train input type (–) —


network typeMSCON-C-1-60- -0-


256 points — ➝ P655


1 to 2 axesSSEL-CS-1-60I-NP-2- Program operation is supported.



1 to 8 axesXSEL- -1-60I-N1-EEE-2- Program operation is supported.



— ➝ P695



* This is for the single-axis MSCON, SSEL, and XSEL. * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V).* indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V / 3: Three-phase 200 V).* indicates field network specification symbol.

Weight (kg) 1.9

(*1) The motor cable, encoder cable, and limit switch cable are connected here. See page A-59 for details on cables.

gripper type / rotary type · 2015-09-29 · gripper type / rotary type 372 mini mini mini slider...

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